This package is a ROS RobotHW component based on ros_control architecture, compatible with most of the Robotnik's motor hardware.
- robotnik_base_hw_lib ๐
sudo dpkg -i lib/ros-kinetic-robotnik-base-hw-lib_X.Y.Z-0xenial_amd64.deb
- robotnik_msgs ๐
git clone https://github.com/RobotnikAutomation/robotnik_msgs/
- peak-linux-driver
- Recomended version: 8.6.0
-
battery_voltage_offset: Offset aplied to the voltage getted by MotorDrive to correct the error (default: 0)
-
base_hw_limits: Joint limits, like max acceleration or max velocity (default: robotnik_base_hw/config/robotnik_base_hw_limits.yaml)
-
base_hw_config: Global configuration about the hardware of the robot (default: find robotnik_base_hw/config/robotnik_base_hw.yaml)
Robot is able to auto recover it's hardware in case of malfunctioning. This is controlled by two parameters:
-
auto_recovery: If true, tries to auto recover from fatal errors in hw, mostly after pressing e-stop. Must have a recovery_period set (default: true)
-
recovery_period: Period in sec between recovery attempts. If 0, auto_recovery will not work (default: 10)
-
state: Publishes an overview of the state of the node.
- type: robotnik_msgs/State
-
status: Publishes an overview of the status of the motors.
- type: robotnik_msgs/RobotnikMotorsStatus
-
voltage: Publishes the voltage getted by MotorDrive (with an applied offset).
- type: std_msgs/Float32
-
emergency_stop: True when the emergency button has been presed (or an error caused the stop of the robot).
- type: std_msgs/Bool
-
io: Publishes a list with the state of all inputs and outputs.
- type: robotnik_msgs/inputs_outputs
-
set_digital_output: Used to set the state of the digital outputs.
- type: robotnik_msgs/set_digital_output
-
send_to_home: Used to set the motor position to 0.
- type: std_srvs/Trigger