ROBOTNIK BASE HW

This package is a ROS RobotHW component based on ros_control architecture, compatible with most of the Robotnik's motor hardware.

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Dependencies

• robotnik_base_hw_lib 🔗

sudo dpkg -i lib/ros-kinetic-robotnik-base-hw-lib_X.Y.Z-0xenial_amd64.deb

• robotnik_msgs 🔗

git clone https://github.com/RobotnikAutomation/robotnik_msgs/

• peak-linux-driver
  • Recomended version: 8.6.0

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ROS

Params

• 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)

Topics

Publications

• 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

Services

• 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