Crate mc_core

Modules

• dynamixel
• feetech
• pololu

Structs

• Animator
  representation of external mc_animate/animator node
• AudioInput
  Audio input device.
• AudioOutput
  Audio output device.
• Calibration
  axis calibration
• Eyes
  ESP32 port and corresponding coordinates
• ForeignParameters
  parameters from other ROS nodes
• JointSet
  set of joints accessible from a single bus
• JointSets
  collection of joint sets
• MonitorServer
  Monitor WebSocket server.
• Monitors
  Set of connected Monitors.
• NodeStates
  representation of all discovered mc_… nodes
• NormalizedAxis
  normalized axis
• Parameter
  a parameter
• Persistent
  Persistent data.
• Pid
  PID controller
• Ros
  ROS2 connectivity
• ServoGoals
  servo goals (write to servo)
• ServoParams
  servo parameters
• ServoState
  servo state (read from servo)
• SysInfo
  representation of external mc_core/sysinfo node
• UIServer
  UI WebSocket server.
• UIs
  All connected UIs.
• UrdfAxis
  URDF axis
• VideoInput
  Video input device.
• WebSocketClients
  generic collection of WebSocket clients

Enums

• FloatConstraints
  float parameter constraints
• IntegerConstraints
  integer parameter constraints
• Joint
  simple, face, complex or knees/hips joint
• ParameterSpec
  parameter specification (type, value and constraints)
• ServoBus
  servo bus
• ServoMode
  servo operation mode
• StringConstraints
  string parameter constraints

Traits

• WebSocketInterface
  WebSocket interface trait for UIs and Monitors.

Functions

• available_serial_esp32s
  Find all ESP32 serial busses. This function uses /sys/bus/usb/devices to find the USB devices, and then derive the corresponding /dev/ttyUSB* port.
• spawn_websocket_server
  Spawn a new WebSocket server.
• string_from_rcl_parameter_value
  Convert an RCL parameter value to a string.