Phidgets high speed encoder ROS 2 driver

This is the ROS 2 driver for Phidgets high speed encoder.

Usage

To run this driver standalone, do the following:

ros2 launch phidgets_high_speed_encoder high_speed_encoder-launch.py

Published Topics

• /joint_states (sensor_msgs/JointState) - A joint state message containing the current state of all encoders.
• /joint_states_chXX_decim_speed (phidgets_msgs/EncoderDecimatedSpeed) - One topic per encoder of the decimated (average) speed reading from the encoder.

Parameters

• serial (int) - The serial number of the phidgets high speed encoder to connect to. If -1 (the default), connects to any high speed encoder phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the high speed encoder phidget is connected to a VINT hub. Defaults to 0.
• frame_id (string) - The header frame ID to use when publishing the message. Defaults to encoder_link.
• speed_filter_samples_len (int) - The number of data points over which to average the speed. Defaults to 10.
• speed_filter_idle_iter_loops_before_reset (int) - The number of idle loops (loops with no data) before the average speed will be reset to 0. Defaults to 1.
• publish_rate (double) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at the data_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.

Changelog for package phidgets_high_speed_encoder

2.3.3 (2024-03-13)

• Add support for VINT networkhub (#172) This is a port of #127 to ROS2. Closes #135.
• Contributors: Martin Günther

2.3.2 (2023-11-27)

2.3.1 (2023-03-03)

• BUGFIX: Z-channel index was not observed in reported positions (#158)
  • fix doxygen format and ensure initial values
  • BUGFIX: Encoder index was not used
• BUGFIX: Wrong speed conversion factor (#157) The current code assumed time intervals from the Phisgets API was microseconds, but it's actually milliseconds. Reported speeds are all wrong by a factor of 1e3.
• Contributors: Jose Luis Blanco-Claraco, Martin Günther

2.3.0 (2022-04-13)

• Merge pull request #132 from mintar/feat-pre-commit-ros2 [galactic] Add pre-commit, move from travis to GitHub actions, fix style
• Fix clang-format
• BUGFIX: duplicated values for all encoders (#126)
• Contributors: Martin Günther

2.2.2 (2022-02-17)

2.2.1 (2021-08-03)

• Update the ROS 2 readme files. (#93)
• Contributors: Chris Lalancette

2.2.0 (2021-05-20)

2.1.0 (2021-03-29)

• Get rid of deprecation warnings in Foxy. (#75)
• Switch header guards to _HPP SUFFIX.
• Contributors: Chris Lalancette

2.0.2 (2020-06-01)

• Release build fixes (#67)
• Contributors: Chris Lalancette

2.0.1 (2019-12-05)

• Switch the buildtoo_depend to ament_cmake_ros. (#65)
• Contributors: Chris Lalancette

2.0.0 (2019-12-05)

• Switch from NULL to nullptr.
• Update READMEs to use "Published Topics" and "Subscribed Topics". (#59)
• Change launch output to "both" so it logs as well.
• Make publish_rate a double.
• Print out the serial number when connecting.
• Port high speed encoder to ROS 2.
• Ignore all packages for ROS 2 port.
• Update maintainers in package.xml
• Merge pull request #39 from clalancette/add-libphidget22
• Add launch files for all drivers.
• Add in try/catch blocks for connecting.
• Fixes from review.
• Documentation updates to README.md
• Set the publish_rate to 0 by default.
• Add in the license files and add to the headers.
• Remove nodes in favor of nodelets.
• Fix a small typo.
• Rewrite High Speed Encoder to use libphidget22.
• Rename Phidget class to Phidget21 class.
• Switch to C++14.
• Remove unused std_msgs dependency from Phidgets High Speed Encoder.
• Merge pull request #36 from clalancette/phidget-cleanup2
• Run clang-format on the whole codebase.
• Switch to C++14 everywhere.
• Split custom messages into their own package.
• Rewrite the high speed encoder node.
• Change API from separate open/waitForAttachment to openAndWaitForAttachment.
• Small cleanups throughout the code.
• Style cleanup.
• Switch to package format 2.
• Cleanup spacing in all of the CMakeLists.txt
• Contributors: Chris Lalancette, Martin Günther

0.7.9 (2019-06-28)

0.7.8 (2019-05-06)

• phidgets_high_speed_encoder: fix missing tick2rad values (#30)
• Contributors: Charles Brian Quinn

0.7.7 (2018-09-18)

0.7.6 (2018-08-09)

0.7.5 (2018-01-31)

0.7.4 (2017-10-04)

• Merge pull request #15 from jlblancoc/kinetic Add Phidgets high-speed encoder package
• Contributors: Jose Luis Blanco-Claraco, Geoff Viola, Martin Günther

0.7.3 (2017-06-30)

0.7.2 (2017-06-02)

0.7.1 (2017-05-22)

0.7.0 (2017-02-17 17:40)

0.2.3 (2017-02-17 12:11)

0.2.2 (2015-03-23)

0.2.1 (2015-01-15)