Skip to content

Latest commit

 

History

History
30 lines (27 loc) · 1.21 KB

README.md

File metadata and controls

30 lines (27 loc) · 1.21 KB
Raw

minho_team_lowlevel

Full ROS Support

This node, although running in Arduino, has full ROS Support using rosserial and ros_lib. To run the node, one has to plugin in the arduino box and run $ rosrun rosserial_pyhton serial_node.py /dev/ttyACM*

  • Subscribers: - [x] controlInfo - Send control commands to platform - [x] teleop - Enable/Disbale teleoperation
  • Publishers:
    • hardwareInfo - Send info about platform's peripherials
  • Services:
    • requestResetEncoders - Reset the value of all 3 encoders
    • requestResetIMU - Reset IMU's 0º reference value
    • requestSetOmniProps - Set OMNI 3MD's PID and RAMP
      • Send is_set = true to set, is_set = false to get current config on response.
      • Send omniConf.* = >0 to change a property. omniConf.x = 0 wont change.
      • Current configuration will be returned in any case.
    • requestIMULinTable- Set IMU linearization table
      • Send is_set = true to set, is_set = false to get current config on response.
      • Send imu_values as "[val1,val2...]"
      • Current configuration will be returned in any case.

Baudrate 57600

Timeout 200ms

##Installation

  • $ sudo chmod 777 install
  • $ ./install

##Upload to board

  • $ sudo chmod 777 upload
  • $ ./upload