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Fix links in documentations (#387)
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@pawelirh
pawelirh authored Aug 13, 2024
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4 changes: 2 additions & 2 deletions ROS_API.md
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Expand Up @@ -42,7 +42,7 @@ Below is information about the physical robot API. For the simulation, topics an

| | Node name | Description |
| --- | ------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 🤖 | `battery_driver` | Publishes battery state read from ADC unit for Panther version 1.2 and above, or based on Roboteq motor controllers' data for earlier versions of the robot. <br/> [*panther_batter/battery_driver_node*](./panther_battery/src/battery_driver_node.cpp) |
| 🤖 | `battery_driver` | Publishes battery state read from ADC unit for Panther version 1.2 and above, or based on Roboteq motor controllers' data for earlier versions of the robot. <br/> [*panther_batter/battery_driver_node*](./panther_battery/src/battery_driver_node.cpp) |
| 🤖🖥️ | `controller_manager` | The Controller Manager performs two main functions. First, it manages controllers and their required interfaces, handling tasks like loading, activating, deactivating, and unloading. Second, it interacts with hardware components, ensuring access to their interfaces. This node manages the: `imu_broadcaster`, `joint_state_broadcaster`, `drive_controller`. <br/> *[controller_manager/controller_manager](https://github.com/ros-controls/ros2_control/blob/master/controller_manager)* |
| 🤖🖥️ | `drive_controller` | Manages mobile robots with a differential or mecanum drive depending on the configuration. It converts velocity commands for the robot body into wheel commands for the base. It also calculates odometry from hardware feedback and shares it. <br/> *[diff_drive_controller/diff_drive_controller](https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller) or [mecanum_drive_controller/mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/main/mecanum_drive_controller)* |
| 🤖🖥️ | `ekf_filter` | The Extended Kalman Filter node is designed to fuse odometry data from various sources, including wheel encoders, IMU, and GPS. <br/> *[robot_localization/ekf_filter](https://github.com/cra-ros-pkg/robot_localization)* |
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| 🤖🖥️ | `dynamic_joint_states` | Information about the state of various movable joints in a robotic system.<br/> [*control_msgs/DynamicJointState*](https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/DynamicJointState.msg) |
| 🤖🖥️⚙️ | `gps/fix` | Raw GPS data.<br/> [*sensor_msgs/NavSatFix*](https://docs.ros2.org/latest/api/sensor_msgs/msg/NavSatFix.html) |
| 🤖🖥️⚙️ | `gps/filtered` | Filtered GPS position after fusing odometry data.<br/> [*sensor_msgs/NavSatFix*](https://docs.ros2.org/latest/api/sensor_msgs/msg/NavSatFix.html) |
| 🤖 | `hardware/e_stop` | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros.org/en/latest/api/std_msgs/html/msg/Bool.html) |
| 🤖 | `hardware/e_stop` | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html). |
| 🤖 | `hardware/io_state` | Current IO state.<br/> [*panther_msgs/IOState*](https://github.com/husarion/panther_msgs) |
| 🤖🖥️ | `hardware/motor_controllers_state` | Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.<br/> [*panther_msgs/DriverState*](https://github.com/husarion/panther_msgs) |
| 🤖🖥️ | `imu/data` | Filtered IMU data.<br/> [*sensor_msgs/Imu*](https://docs.ros2.org/latest/api/sensor_msgs/msg/Imu.html) |
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2 changes: 1 addition & 1 deletion panther_gazebo/CONFIGURATION.md
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Expand Up @@ -8,7 +8,7 @@ The NavSat sensors requires the spherical coordinates of the world origin to be

To obtain GPS data in Ignition, follow these steps:

- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/external_antenna.urdf.xacro) by adding the following lines to your [components.yaml](../panther_description/config/components.yaml) file inside the `components` list:
- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/teltonika_003R-00253.urdf.xacro) by adding the following lines to your [components.yaml](../panther_description/config/components.yaml) file inside the `components` list:

```yaml
- type: ANT02
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2 changes: 1 addition & 1 deletion panther_hardware_interfaces/README.md
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Expand Up @@ -4,7 +4,7 @@ Package that implements SystemInterface from ros2_control for Panther.

## ROS Nodes

This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF (you can check how to do it in [panther_description](https://github.com/husarion/panther_ros/tree/ros2/panther_description/)).
This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in [panther_description](https://github.com/husarion/panther_ros/tree/ros2/panther_description/).

### PantherSystem

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2 changes: 1 addition & 1 deletion panther_manager/CONFIGURATION.md
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Expand Up @@ -39,7 +39,7 @@ ssh-copy-id username@10.15.20.XX

## Faults Handle

After receiving a message on the `battery/battery_status` topic, the `panther_manager` node makes decisions regarding safety measures. For more information regarding the power supply state, please refer to the [adc_node](/panther_battery/README.md#battery-statuses) documentation.
After receiving a message on the `battery/battery_status` topic, the `panther_manager` node makes decisions regarding safety measures. For more information regarding the power supply status, please refer to the [BatteryState](https://docs.ros2.org/latest/api/sensor_msgs/msg/BatteryState.html) message definition and [adc_battery.cpp](../panther_battery/src/battery/adc_battery.cpp) implementation.

| Power Supply Health | Procedure |
| ------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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