Joints_interface¶
This package handles packages related to the robot’s joints controller.
It provides an interface to ros_control.
Joints interface node¶
- The ROS Node is made to:
- Interface robot’s motors to joint trajectory controller, from ros_control package.
- Create a controller manager, from controller_manager package, to provides the infrastructure to load, unload, start and stop controllers.
- Interface with motors calibration.
- Initialize motors parameters.
Parameters - joints interface¶
Name | Description |
---|---|
ros_control_loop_frequency |
control loop frequency.
Default: ‘100.0’
|
publish_learning_mode_frequency |
Publish rate for learning mode state.
Default: ‘2.0’
|
calibration_timeout |
Waiting time between 2 commands during the calibration process.
Default: ‘30’
|
calibration_file |
File directory where is saved motors calibration value.
Default: ‘/home/niryo/niryo_robot_saved_files/stepper_motor_calibration_offsets.txt’
|
Published topics - joints interface¶
Name | Message Type | Description |
---|---|---|
/niryo_robot/learning_mode/state |
std_msgs/Bool | Learning mode state |
Services - joints interface¶
Name | Message Type | Description |
---|---|---|
/niryo_robot/joints_interface/calibrate_motors |
SetInt | Start motors calibration - value can be 1 for auto calibration, 2 for manual |
/niryo_robot/joints_interface/request_new_calibration |
Trigger | Unset motors calibration |
niryo_robot/learning_mode/activate |
Trigger | Either activate or deactivate learning mode |