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wm_lifting_column_hardware_interface

Package pour le hardware interface du lifting_column de sara. Ce package agit comme un plugin pour sara_control. Par conséquent, aucun launch direct n'est néssésaire.

Instalation

sudo apt-get install ros-kinetic-ros-control
cd <your workspace>/src
git clone https://github.com/WalkingMachine/wm_lifting-column_hardware_interface.git
cd <your workspace>
catkin_make

Topics

  • Publisher
    • /column/cmd (std_msgs/Int32)
      • command can range from -255 (down) to 255 (up).
    • /column/set_position (std_msgs/Int32)
      • Used to calibrate the column
  • Subscriber
    • /column/position (std_msgs/Int32)
      • relative position from the hall sensor

Exemple de configuration

base_actuator_joint:
 type: wm_lifting_column_hardware_interface/WMLiftingColumnHardwareInterface
 joints:
  - base_actuator_joint
 cmd_max: 255
 speed_max_up: 0.0279503106
 speed_min_up: 0.02
 speed_max_down: 0.02958988
 speed_min_down: 0.02
 max_height: 0.69
 resolution: 2387
 cmd_topic: "column/cmd"
 position_topic: "column/position"
 set_position_topic: "column/set_position"