MMPSU v2p0 ROS2 package

mmpsu_v2

Actual node code. Nodes available are the following:

• mmpsu_v2_node
• mmpsu_debug_pane

mmpsu_v2_node Node

This node does the actual communication with the MMPSU over UART using pyserial and offers several topics and services (see sections below).

Topics:

• mmpsu/mmpsu_core: Core telemetry messages of type mmpsu_v2_interfaces.msg.MmpsuCoreTelem.
• mmpsu/mmpsu_aux: Auxilliary telemetry messages of type mmpsu_v2_interfaces.msg.MmpsuAuxTelem.

Services:

• mmpsu/set_output_enabled: enable or disable the output (std_srvs.srv.SetBool)
• mmpsu/set_vout: set the voltage setpoint of the output (mmpsu_v2_interfaces.srv.SetFloat32)
• mmpsu/set_iout_limit: set the total output current limit (mmpsu_v2_interfaces.srv.SetFloat32)

mmpsu_debug_pane Node

A Tkinter-based GUI that allows basic control and debugging of MMPSU. It requires the mmpsu_v2_node to be running to actually control the hardware.

Parameters, launch files, and config files

The mmpsu_v2_node needs several parameters to be set in order to function correctly. In this repo we have an example launch file mmpsu_v2/launch/mmpsu_v2_launch.py which calls on a config file called mmpsu_v2_config.yaml in the mmpsu_v2/config/ directory. The chief parameter you very likely need to change is the uart_path parameter. The value required will depend on what UART peripheral you have available and choose to use for MMPSU comms.

mmpsu_v2_interfaces

Defines message and service types.

Message types:

• MmpsuAuxTelem: Less important telemetry than the core telemetry.
• MmpsuCoreTelem: More important telemetry than the auxilliary telemetry.

Service types:

• SetFloat32: Allows setting of a float32 type, analagous to the standard service Set- types.