Conveyor_interface¶
This package handles Niryo’s Conveyor Belt.
You can control two Conveyors Belt.
Conveyor Belt interface node¶
- The ROS Node is made to:
- Initialize Conveyor Belt motor parameters.
- Set and control Conveyors Belt.
- Publish Conveyors Belt state.
The namespace used is: /niryo_robot/conveyor/
Parameters - Conveyor Belt interface¶
| Name | Description |
|---|---|
publish_frequency |
Publish rate for conveyors state.
Default: ‘2.0’
|
Published topics - Conveyor Belt interface¶
| Name | Message Type | Description |
|---|---|---|
feedback |
ConveyorFeedbackArray | Conveyors Belt states |
Services - Conveyor Belt interface¶
| Name | Message Type | Description |
|---|---|---|
control_conveyor |
ControlConveyor | Send a command to the desired Conveyor Belt |
ping_and_set_conveyor |
SetConveyor | Scan and set a new Conveyor Belt |
Dependencies - Conveyor Belt interface¶
Services & messages files - Conveyor Belt interface¶
ControlConveyor (Service)¶
uint8 id
bool control_on
int16 speed
int8 direction
---
int16 status
string message
SetConveyor (Service)¶
uint8 cmd
uint8 id
uint8 ADD = 1
uint8 REMOVE = 2
---
int16 id
int16 status
string message
ConveyorFeedbackArray (Message)¶
conveyor_interface/ConveyorFeedback[] conveyors
ConveyorFeedback (Message)¶
#Conveyor id ( either 12 or 18)
uint8 conveyor_id
#Conveyor Connection state ( if it is enabled)
bool connection_state
# Conveyor Controls state : ON or OFF
bool running
# Conveyor Speed ( 1-> 100 %)
int16 speed
# Conveyor direction ( backward or forward)
int8 direction