Niryo Robot Hardware Interface

This package handles packages related to the robot’s hardware.
It launches hardware interface nodes, motors communication and driver.
Hardware Stack Nodes

Global overview of hardware stack packages organization.

Hardware interface Node

This node has been conceived to instantiate all the interfaces we need to have a fully functional robot.

Among those interfaces we have:
  • Conveyor Interface
  • Joints Interface
  • Tools Interface
  • Cpu Interface
  • End Effector Interface (Ned2 only)
  • Can Driver (Ned and One Only)
  • Ttl Driver

It belongs to the ROS namespace: /niryo_robot_hardware_interface/.

Parameters

Hardware Interface’s Parameters
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’

Services, Topics and Messages

Published topics

Hardware Interface’s Published Topics
Name Message Type Description
hardware_status niryo_robot_msgs/HardwareStatus Motors, bus, joints and CPU status
software_version niryo_robot_msgs/SoftwareVersion Software version of the Raspberry PI and every hardware components (motors, end effector, conveyors and tools)

Services

Hardware Interface Package Services
Name Message Type Description
launch_motors_report Trigger Starts motors report
reboot_motors Trigger Reboots motors
stop_motors_report Trigger Stops motors report