• launch/auto_power_cycle.launch
  • • monitored_topic — Topic monitored for determining health of monitored communication. If this is not published for an unusually long period, power cycle of that communication occurs
    • monitored_topic_expected_hz — Expected Hz of monitored topic
    • monitored_topic_respawn_delay — For this duration [sec] after power cycle, new power cycle does not occur to wait for topic to be published
    • launch_default_driver [default: true] — Launch driver of USB-Serial troubleshooter
    • troubleshooter_port [default: /dev/ttyACM0] — Port connecting with USB-Serial troubleshooter
    • troubleshooter_serial_timeout [default: 1] — Timeout [sec] of serial communication with USB-Serial troubleshooter
    • troubleshooter_power_cycle_interval [default: 1.0] — Interval [sec] in USB power cycle using USB-Serial troubleshooter
    • troubleshooter_init_with_power_set [default: true] — Set power state of USB when driver of USB-Serial troubleshooter is initialized. Which state (ON or OFF) is set is defined by troubleshooter_init_with_power_on
    • troubleshooter_init_with_power_on [default: true] — Power on USB when driver of USB-Serial troubleshooter is initialized. This argument is valid only when troubleshooter_init_with_power_set is true
    • monitored_topic_allowed_delay_cycles [default: 2.0] — If monitored topic is not published in the expected timing and is delayed for ((1 / monitored_topic_expected_hz) * monitored_topic_allowed_delay_cycles) [sec], power cycle occurs
    • init_with_power_cycle [default: true] — Execute power cycle when auto_power_cycle node is initialized
• launch/usb_ppps_hub.launch
  • • hub_location — Location(s) of USB PPPS hub (e.g., '3-5', '[3-5, 2-2]', , '[3-5, 3-5]')
    • hub_port — Port(s) of USB PPPS hub you want to power on/off (e.g., '1', '[1, 1]', '[1, 2]'). Must be the same length as hub_location and each element corresponds to the element at the same position in hub_location
    • power_cycle_interval [default: 1.0] — Interval [sec] in USB power cycle using USB PPPS hub
    • init_with_power_set [default: true] — Set power state of USB when driver of USB PPPS hub is initialized. Which state (ON or OFF) is set is defined by init_with_power_on
    • init_with_power_on [default: true] — Power on USB when driver of USB PPPS hub is initialized. This argument is valid only when init_with_power_set is true
    • power_service [default: ~power] — Name of service for USB power switching
    • power_cycle_service [default: ~power_cycle] — Name of service for USB power cycle
    • uhubctl_executable [default: uhubctl] — Command to control USB PPPS hub. You can add supplementary options to uhubctl command (e.g., 'uhubctl -r 100'). In addition, you can specify the path to uhubctl command you installed on your own (e.g., '~/uhubctl/uhubctl')
• launch/usb_serial_troubleshooter.launch
  • • port — Port connecting with USB-Serial troubleshooter (e.g., '/dev/ttyACM0')
    • serial_timeout [default: 1] — Timeout [sec] of serial communication with USB-Serial troubleshooter
    • power_cycle_interval [default: 1.0] — Interval [sec] in USB power cycle using USB-Serial troubleshooter
    • init_with_power_set [default: true] — Set power state of USB when driver of USB-Serial troubleshooter is initialized. Which state (ON or OFF) is set is defined by init_with_power_on
    • init_with_power_on [default: true] — Power on USB when driver of USB-Serial troubleshooter is initialized. This argument is valid only when init_with_power_set is true
    • power_service [default: ~power] — Name of service for USB power switching
    • power_cycle_service [default: ~power_cycle] — Name of service for USB power cycle

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