| 23 | using namespace std::chrono_literals; |
| 24 | |
| 25 | TurtleBot3::TurtleBot3(const std::string & usb_port) |
| 26 | : Node("turtlebot3_node", rclcpp::NodeOptions().use_intra_process_comms(true)) |
| 27 | { |
| 28 | RCLCPP_INFO(get_logger(), "Init TurtleBot3 Node Main"); |
| 29 | node_handle_ = std::shared_ptr<::rclcpp::Node>(this, [](::rclcpp::Node *) {}); |
| 30 | |
| 31 | init_dynamixel_sdk_wrapper(usb_port); |
| 32 | check_device_status(); |
| 33 | |
| 34 | add_motors(); |
| 35 | add_wheels(); |
| 36 | add_sensors(); |
| 37 | add_devices(); |
| 38 | |
| 39 | run(); |
| 40 | } |
| 41 | |
| 42 | TurtleBot3::Wheels * TurtleBot3::get_wheels() |
| 43 | { |
nothing calls this directly
no outgoing calls
no test coverage detected