Niryo_robot_hardware_interface¶
This package handles packages related to the robot’s hardware.
It launches hardware interface nodes, motors communication and driver.
Global overview of hardware stack packages organization.
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 |
Publishes rate for hardware status.
Default : ‘2.0’
|
publish_software_version_frequency |
Publishes 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 | Starts motors report |
reboot_motors |
Trigger | Reboots motors |
stop_motors_report |
Trigger | Stops motors report |