Niryo_robot_hardware_interface¶
This package handles packages related to the robot’s hardware.
It launches hardware interface nodes, motors communication and driver.
Hardware interface node¶
- The ROS Node is made to launch hardware interface and communication:
- Conveyor Belt interface
- Joints interface
- Tools interface
- Fake interface
- Dynamixel driver
- Stepper driver
The namespace used is: /niryo_robot_hardware_interface/
.
Parameters - hardware interface¶
Name | Description |
---|---|
publish_hw_status_frequency |
Publish rate for hardware status.
Default : ‘2.0’
|
publish_software_version_frequency |
Publish rate for software status.
Default : ‘2.0’
|
Published topics - hardware interface¶
Name | Message Type | Description |
---|---|---|
hardware_status |
niryo_robot_msgs/HardwareStatus | Motors, bus, joints and CPU status |
software_version |
niryo_robot_msgs/SoftwareVersion | Raspberry and stepper software version |
Services - hardware interface¶
Name | Message Type | Description |
---|---|---|
launch_motors_report |
Trigger | Start motors report |
reboot_motors |
Trigger | Reboot motors |
stop_motors_report |
Trigger | Stop motors report |