CAN Driver¶
This package provides an interface between high level ROS packages and handler of CAN Bus. It uses the mcp_can_rpi for CAN bus communication.
It is used by only Ned and the Niryo One.
CAN Driver Node (For only the development and debugging propose)¶
- The ROS Node is made to:
- Initialize CAN Interface.
CAN Interface Core¶
It is instantiated in Niryo Robot Hardware Interface package.
- It has been conceived to:
- Initialize the CAN Interface and physical bus with the configurations.
- Add, remove and monitor devices on bus.
- Start control loop to get and send data from/to motors.
- Start ROS stuffs like services, topics if they exist.
It belongs to the ROS namespace: /can_driver/.
Parameters¶
Note
These configuration parameters are set to work with Niryo’s robot. Do not edit them.
| Name | Description |
|---|---|
can_hardware_control_loop_frequency |
Control loop frequency.
Default: ‘1500.0’
|
can_hw_write_frequency |
Write frequency.
Default: ‘200.0’
|
can_hw_read_frequency |
Read frequency.
Default: ‘50.0’
|
bus_params/spi_channel |
spi channel.
Default: ‘0’
|
bus_params/spi_baudrate |
Baudrate.
Default: ‘1000000’
|
bus_params/gpio_can_interrupt |
GPIO Interrupt.
Default: ‘25’
|
Dependencies¶
Services, Topics and Messages¶
StepperCmd (Service)¶
uint8 cmd_type
uint8 CMD_TYPE_SYNCHRONIZE=5
uint8 CMD_TYPE_RELATIVE_MOVE=6
uint8 CMD_TYPE_MAX_EFFORT=7
uint8 CMD_TYPE_MICRO_STEPS=8
uint8 CMD_TYPE_POSITION_OFFSET=9
uint8 CMD_TYPE_CALIBRATION=10
uint8[] motors_id
int32[] params
---
bool result
StepperMotorHardwareStatus (Message)¶
niryo_robot_msgs/MotorHeader motor_identity
string firmware_version
int32 temperature
int32 voltage
int32 error
StepperMotorCommand (Message)¶
uint8 cmd_type
uint8 CMD_TYPE_POSITION=1
uint8 CMD_TYPE_VELOCITY=2
uint8 CMD_TYPE_EFFORT=3
uint8 CMD_TYPE_TORQUE=4
uint8[] motors_id
int32[] params
StepperArrayMotorHardwareStatus (Message)¶
std_msgs/Header header
can_driver/StepperMotorHardwareStatus[] motors_hw_status