Niryo_robot_rpi¶
This package deals with Raspberry Pi related stuff (Button, fans, I/O, leds, …).
Raspberry Pi Node¶
The ROS Node manages the following components:
- Physical top button: executes actions when the button is pressed.
- Digital I/O panel: gets commands and sends the current state of digital I/Os. Also controls tools like the Electromagnet.
- Analog I/O panel: gets commands and sends the current state of analog I/Os.
- End Effector I/O panel: gets commands and sends the current state of the digital I/Os of the end effector panel on Ned2. Also controls tools like the Electromagnet.
- Robot fans.
- Led: sets the LED color.
- Shutdown Manager: shutdown or reboot the Raspberry.
- ROS log: can remove all previous logs on start_up to prevent a lack of disk space in the long run (SD cards do not have infinite storage).
It belongs to the ROS namespace: /niryo_robot_rpi/.
Note that this package should not be used when you are using Ned ROS stack on your computer in simulation mode. Executes actions when the button is pressed.
Publisher - Raspberry Pi¶
| Name | Message Type | Description |
|---|---|---|
pause_state |
PausePlanExecution | Publishes the current execution state launched when button is pressed |
/niryo_robot/blockly/save_current_point |
std_msgs/Int32 | Publishes current point when user is in Blockly page to save block by pressing button |
/niryo_robot/rpi/is_button_pressed |
std_msgs/Bool | Publishes the button state (true if pressed) |
digital_io_state |
DigitalIOState | Publishes the digital I/Os state by giving for each it’s pin / name / mode / state |
analog_io_state |
AnalogIOState | Publishes the analog I/Os state by giving for each it’s pin / name / mode / state |
/niryo_robot/rpi/led_state |
std_msgs/Int8 | Publishes the current LED color |
ros_log_status |
LogStatus | Publishes the current log status (log size / available disk / boolean if should delete ros log on startup) |
Services - Raspberry Pi¶
| Name | Message Type | Description |
|---|---|---|
shutdown_rpi |
SetInt | Shutdowns the Raspberry Pi |
/niryo_robot/rpi/change_button_mode |
SetInt | Changes top button mode (autorun program, blockly, nothing, …) |
get_analog_io |
GetAnalogIO | Gets analog IO state list |
get_digital_io |
GetDigitalIO | Gets digital IO state list |
set_analog_io |
SetAnalogIO | Sets an analog IO to the given value |
set_digital_io |
SetDigitalIO | Sets a digital IO to the given value |
set_digital_io_mode |
SetDigitalIO | Sets a digital IO to the given mode |
set_led_state |
std_msgs/SetInt | Sets LED state |
set_led_custom_blinker |
LedBlinker | Sets the LED in blink mode with the color given |
purge_ros_logs |
SetInt | Purges ROS log |
set_purge_ros_log_on_startup |
SetInt | Modifies the permanent settings that tell if the robot should purge its ROS log at each boot |
Services files - Raspberry Pi¶
ChangeMotorConfig (Service)¶
int32[] can_required_motor_id_list
int32[] dxl_required_motor_id_list
---
int32 status
string message
GetAnalogIO (Service)¶
string name
---
int32 status
string message
float64 value
GetDigitalIO (Service)¶
string name
---
int32 status
string message
bool value
LedBlinker (Service)¶
uint8 LED_OFF = 0
uint8 LED_BLUE = 1
uint8 LED_GREEN = 2
uint8 LED_BLUE_GREEN = 3
uint8 LED_RED = 4
uint8 LED_PURPLE = 5
uint8 LED_RED_GREEN = 6
uint8 LED_WHITE = 7
bool activate
uint8 frequency # between 1hz and 100Hz
uint8 color
float32 blinker_duration # 0 for infinite
---
int32 status
string message
SetDigitalIO (Service)¶
string name
bool value
---
int32 status
string message
SetAnalogIO (Service)¶
string name
float64 value
---
int32 status
string message
SetIOMode (Service)¶
string name
int8 OUTPUT = 0
int8 INPUT = 1
int8 mode
---
int32 status
string message
SetPullup (Service)¶
string name
bool enable
---
int32 status
string message
Messages files - Raspberry Pi¶
AnalogIO¶
string name
float64 value
AnalogIOState (Topic)¶
niryo_robot_rpi/AnalogIO[] analog_inputs
niryo_robot_rpi/AnalogIO[] analog_outputs
DigitalIO¶
string name
bool value
DigitalIOState (Topic)¶
niryo_robot_rpi/DigitalIO[] digital_inputs
niryo_robot_rpi/DigitalIO[] digital_outputs
LogStatus (Topic)¶
std_msgs/Header header
# in MB
int32 log_size
int32 available_disk_size
bool purge_log_on_startup