Phidgets motor ROS 2 driver

This is the ROS 2 driver for Phidgets motor.

Usage

To run this driver standalone, do the following:

ros2 launch phidgets_motors motors-launch.py

Published Topics

• /motor_duty_cycleXX (std_msgs/Float64) - Get the motor duty cycle. One topic is created for each motor attached.
• /motor_back_emfXX (std_msgs/Float64) - Get the motor back EMF value if supported by device. One topic is created for each motor attached.

Subscribed Topics

• /set_motor_duty_cycleXX (std_msgs/Float64) - Set the motor duty cycle. One topic is created for each motor attached.

Parameters

• serial (int) - The serial number of the phidgets motor to connect to. If -1 (the default), connects to any motor phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the motor phidget is connected to a VINT hub. Defaults to 0.
• braking_strength (double) - The braking strength to apply when the duty cycle is 0. Defaults to 0.0.
• data_interval_ms (int) - The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 250 ms.
• 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_motors

2.2.3 (2022-04-13)

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)

• Include file cleanup.
• 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.
• Only publish motor_back_emf if supported by DC Motor device (#53)
• Print out the serial number when connecting.
• Update documentation to mention device dependent fields.
• Port motors 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.
• Rewrite Motor Phidget to use libphidget22.
• Contributors: Chris Lalancette, Martin G