deploy: 0160ca2

versions/main/_component_8hpp_source.html

@@ -189,7 +189,7 @@
 <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>      <span class="keywordflow">case</span> MessageType::ENCODED_STATE: {</div>
 <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        <span class="keyword">auto</span> <a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">publisher</a> = this-&gt;<a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">create_publisher&lt;modulo_core::EncodedState&gt;</a>(<a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">topic_name</a>, this-&gt;<a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#aab0d3f3a481902f01c70edf2349f304e">get_qos</a>());</div>
 <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        this-&gt;outputs_.at(<a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">parsed_signal_name</a>) =</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            std::make_shared&lt;PublisherHandler&lt;rclcpp::Publisher&lt;modulo_core::EncodedState&gt;, <a class="code hl_typedef" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a>&gt;&gt;(</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            std::make_shared&lt;PublisherHandler&lt;rclcpp::Publisher&lt;modulo_core::EncodedState&gt;, modulo_core::EncodedState&gt;&gt;(</div>
 <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>                PublisherType::PUBLISHER, <a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">publisher</a>)-&gt;create_publisher_interface(<a class="code hl_function" href="classmodulo__components_1_1_component_interface.html#a418d23ed978018d9d465b9036db3eb8d">message_pair</a>);</div>
 <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <span class="keywordflow">break</span>;</div>
 <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>      }</div>
@@ -221,7 +221,6 @@
 <div class="ttc" id="aclassmodulo__core_1_1communication_1_1_publisher_handler_html"><div class="ttname"><a href="classmodulo__core_1_1communication_1_1_publisher_handler.html">modulo_core::communication::PublisherHandler</a></div><div class="ttdoc">The PublisherHandler handles different types of ROS publishers to activate, deactivate and publish da...</div><div class="ttdef"><b>Definition</b> <a href="_publisher_handler_8hpp_source.html#l00017">PublisherHandler.hpp:17</a></div></div>
 <div class="ttc" id="anamespacemodulo__components_html"><div class="ttname"><a href="namespacemodulo__components.html">modulo_components</a></div><div class="ttdoc">Modulo components.</div><div class="ttdef"><b>Definition</b> <a href="_component_8hpp_source.html#l00009">Component.hpp:9</a></div></div>
 <div class="ttc" id="anamespacemodulo__core_1_1communication_html"><div class="ttname"><a href="namespacemodulo__core_1_1communication.html">modulo_core::communication</a></div><div class="ttdoc">Modulo Core communication module for handling messages on publication and subscription interfaces.</div><div class="ttdef"><b>Definition</b> <a href="_message_pair_8hpp_source.html#l00009">MessagePair.hpp:9</a></div></div>
-<div class="ttc" id="anamespacemodulo__core_html_aa89356b8fb7ab13ff2514931d3b05fdc"><div class="ttname"><a href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a></div><div class="ttdeci">std_msgs::msg::UInt8MultiArray EncodedState</div><div class="ttdoc">Define the EncodedState as UInt8MultiArray message type.</div><div class="ttdef"><b>Definition</b> <a href="_encoded_state_8hpp_source.html#l00015">EncodedState.hpp:15</a></div></div>
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versions/main/_controller_interface_8cpp_source.html

@@ -781,7 +781,7 @@
 <div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>      std::visit(</div>
 <div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>          overloaded{</div>
 <div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>              [&amp;](EncodedStatePublishers&amp; <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>) {</div>
-<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>                std::get&lt;1&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>) = <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_node</a>()-&gt;create_publisher&lt;<a class="code hl_typedef" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">EncodedState</a>&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">topic</a>, qos_);</div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>                std::get&lt;1&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>) = <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_node</a>()-&gt;create_publisher&lt;EncodedState&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">topic</a>, qos_);</div>
 <div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>                std::get&lt;2&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>) = std::make_shared&lt;realtime_tools::RealtimePublisher&lt;EncodedState&gt;&gt;(std::get&lt;1&gt;(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>));</div>
 <div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>              },</div>
 <div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>              [&amp;](BoolPublishers&amp; <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">pub</a>) {</div>
@@ -992,7 +992,6 @@
 <div class="ttc" id="anamespacemodulo__core_1_1translators_html_af16d1185354f2f64f06698b0d1b3fc3f"><div class="ttname"><a href="namespacemodulo__core_1_1translators.html#af16d1185354f2f64f06698b0d1b3fc3f">modulo_core::translators::copy_parameter_value</a></div><div class="ttdeci">void copy_parameter_value(const std::shared_ptr&lt; const state_representation::ParameterInterface &gt; &amp;source_parameter, const std::shared_ptr&lt; state_representation::ParameterInterface &gt; &amp;parameter)</div><div class="ttdoc">Copy the value of one parameter interface into another.</div></div>
 <div class="ttc" id="anamespacemodulo__core_1_1translators_html_afa6da1171b524ca4b63f6119f1774f1b"><div class="ttname"><a href="namespacemodulo__core_1_1translators.html#afa6da1171b524ca4b63f6119f1774f1b">modulo_core::translators::read_parameter_const</a></div><div class="ttdeci">std::shared_ptr&lt; state_representation::ParameterInterface &gt; read_parameter_const(const rclcpp::Parameter &amp;ros_parameter, const std::shared_ptr&lt; const state_representation::ParameterInterface &gt; &amp;parameter)</div><div class="ttdoc">Update the parameter value of a ParameterInterface from a ROS Parameter object only if the two parame...</div></div>
 <div class="ttc" id="anamespacemodulo__core_html"><div class="ttname"><a href="namespacemodulo__core.html">modulo_core</a></div><div class="ttdoc">Modulo Core.</div><div class="ttdef"><b>Definition</b> <a href="_message_pair_8hpp_source.html#l00009">MessagePair.hpp:9</a></div></div>
-<div class="ttc" id="anamespacemodulo__core_html_aa89356b8fb7ab13ff2514931d3b05fdc"><div class="ttname"><a href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a></div><div class="ttdeci">std_msgs::msg::UInt8MultiArray EncodedState</div><div class="ttdoc">Define the EncodedState as UInt8MultiArray message type.</div><div class="ttdef"><b>Definition</b> <a href="_encoded_state_8hpp_source.html#l00015">EncodedState.hpp:15</a></div></div>
 <div class="ttc" id="astructmodulo__controllers_1_1_controller_service_response_html"><div class="ttname"><a href="structmodulo__controllers_1_1_controller_service_response.html">modulo_controllers::ControllerServiceResponse</a></div><div class="ttdoc">Response structure to be returned by controller services.</div><div class="ttdef"><b>Definition</b> <a href="_controller_interface_8hpp_source.html#l00091">ControllerInterface.hpp:91</a></div></div>
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versions/main/_controller_interface_8hpp_source.html

@@ -509,8 +509,8 @@
 <div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>  std::shared_ptr&lt;state_representation::State&gt; <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">state</a>;</div>
 <div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span>  <span class="keywordflow">try</span> {</div>
 <div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>    <span class="keyword">auto</span> <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">message_pair</a> = input_message_pairs_.at(<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">name</a>);</div>
-<div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>    <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">message_pair</a>-&gt;read&lt;<a class="code hl_typedef" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a>, state_representation::State&gt;(message);</div>
-<div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span>    <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">state</a> = <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">message_pair</a>-&gt;get_message_pair&lt;<a class="code hl_typedef" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a>, state_representation::State&gt;()-&gt;get_data();</div>
+<div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>    <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">message_pair</a>-&gt;read&lt;modulo_core::EncodedState, state_representation::State&gt;(message);</div>
+<div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span>    <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">state</a> = <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">message_pair</a>-&gt;get_message_pair&lt;modulo_core::EncodedState, state_representation::State&gt;()-&gt;get_data();</div>
 <div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">ex</a>) {</div>
 <div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>    <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">RCLCPP_WARN_THROTTLE</a>(</div>
 <div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>        <a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_node</a>()-&gt;<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_logger</a>(), *<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_node</a>()-&gt;<a class="code hl_function" href="classmodulo__controllers_1_1_controller_interface.html#a276986a6d1a42d36200899716bda47a0">get_clock</a>(), 1000,</div>
@@ -721,7 +721,6 @@
 <div class="ttc" id="aclassmodulo__core_1_1exceptions_1_1_message_translation_exception_html"><div class="ttname"><a href="classmodulo__core_1_1exceptions_1_1_message_translation_exception.html">modulo_core::exceptions::MessageTranslationException</a></div><div class="ttdoc">An exception class to notify that the translation of a ROS message failed.</div><div class="ttdef"><b>Definition</b> <a href="exceptions_8hpp_source.html#l00079">exceptions.hpp:79</a></div></div>
 <div class="ttc" id="aclassmodulo__core_1_1exceptions_1_1_parameter_exception_html"><div class="ttname"><a href="classmodulo__core_1_1exceptions_1_1_parameter_exception.html">modulo_core::exceptions::ParameterException</a></div><div class="ttdoc">An exception class to notify errors with parameters in modulo classes.</div><div class="ttdef"><b>Definition</b> <a href="exceptions_8hpp_source.html#l00100">exceptions.hpp:100</a></div></div>
 <div class="ttc" id="anamespacemodulo__core_1_1translators_html_ab0ba0632a12496f0ad34f836c5001689"><div class="ttname"><a href="namespacemodulo__core_1_1translators.html#ab0ba0632a12496f0ad34f836c5001689">modulo_core::translators::write_parameter</a></div><div class="ttdeci">rclcpp::Parameter write_parameter(const std::shared_ptr&lt; state_representation::ParameterInterface &gt; &amp;parameter)</div><div class="ttdoc">Write a ROS Parameter from a ParameterInterface pointer.</div></div>
-<div class="ttc" id="anamespacemodulo__core_html_aa89356b8fb7ab13ff2514931d3b05fdc"><div class="ttname"><a href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a></div><div class="ttdeci">std_msgs::msg::UInt8MultiArray EncodedState</div><div class="ttdoc">Define the EncodedState as UInt8MultiArray message type.</div><div class="ttdef"><b>Definition</b> <a href="_encoded_state_8hpp_source.html#l00015">EncodedState.hpp:15</a></div></div>
 <div class="ttc" id="astructmodulo__controllers_1_1_controller_input_html"><div class="ttname"><a href="structmodulo__controllers_1_1_controller_input.html">modulo_controllers::ControllerInput</a></div><div class="ttdoc">Input structure to save topic data in a realtime buffer and timestamps in one object.</div><div class="ttdef"><b>Definition</b> <a href="_controller_interface_8hpp_source.html#l00079">ControllerInterface.hpp:79</a></div></div>
 <div class="ttc" id="astructmodulo__controllers_1_1_controller_service_response_html"><div class="ttname"><a href="structmodulo__controllers_1_1_controller_service_response.html">modulo_controllers::ControllerServiceResponse</a></div><div class="ttdoc">Response structure to be returned by controller services.</div><div class="ttdef"><b>Definition</b> <a href="_controller_interface_8hpp_source.html#l00091">ControllerInterface.hpp:91</a></div></div>
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@@ -83,15 +83,14 @@
 <div class="contents">
 <div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
 <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;std_msgs/msg/u_int8_multi_array.hpp&gt;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;modulo_interfaces/msg/encoded_state.hpp&gt;</span></div>
 <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
 <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacemodulo__core.html">modulo_core</a> {</div>
 <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">   15</a></span><span class="keyword">typedef</span> std_msgs::msg::UInt8MultiArray <a class="code hl_typedef" href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">EncodedState</a>;</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>}<span class="comment">// namespace modulo_core</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keyword">typedef</span> modulo_interfaces::msg::EncodedState EncodedState;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>}<span class="comment">// namespace modulo_core</span></div>
 <div class="ttc" id="anamespacemodulo__core_html"><div class="ttname"><a href="namespacemodulo__core.html">modulo_core</a></div><div class="ttdoc">Modulo Core.</div><div class="ttdef"><b>Definition</b> <a href="_message_pair_8hpp_source.html#l00009">MessagePair.hpp:9</a></div></div>
-<div class="ttc" id="anamespacemodulo__core_html_aa89356b8fb7ab13ff2514931d3b05fdc"><div class="ttname"><a href="namespacemodulo__core.html#aa89356b8fb7ab13ff2514931d3b05fdc">modulo_core::EncodedState</a></div><div class="ttdeci">std_msgs::msg::UInt8MultiArray EncodedState</div><div class="ttdoc">Define the EncodedState as UInt8MultiArray message type.</div><div class="ttdef"><b>Definition</b> <a href="_encoded_state_8hpp_source.html#l00015">EncodedState.hpp:15</a></div></div>
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