ROS Index
Repository Summary
| Checkout URI | https://github.com/UbiquityRobotics/ubiquity_motor.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2019-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ubiquity_motor | 0.9.0 |
README
ubiquity_motor
Introduction
This is a Package that provides a ROS interface for the motors in UbiquityRobotics robots. It communicates with the motor controller via a serial port.
Installation
This package may be installed from binaries for both x86 and ARM architectures.
The package may be installed with:
sudo apt-get install ros-kinetic-ubiquity-motor
Configuration launch files for the Magni robot are in the package magni_robot.
ROS API
Subscribed topics
cmd_vel geometry_msgs/Twist
The command input.
Published topics
odom nav_msgs/Odometry
Odometry computed from motor controller messages.
/tf tf/tfMessage
The transform from odom to base_link
battery_state sensor_msgs/BatteryState
Charge state of the robot’s batteries.
publish_cmd geometry_msgs/TwistStamped
The value of cmd_vel after limits were applied. Available if the publish_cmd paramater is set.
Parameters
Comms paramaters
serial_port (string, default: “/dev/ttyS0”)
Name of device with which to communicate with motor controller hardware.
baud_rate (int, default: 9600)
Baud rate for serial communication with motor controller hardware.
Firmware parameters
pid_proportional (int, default: 5000)
The P paramater for the motor controller’s PID controller.
pid_integral (int, default: 10)
The I paramater for the motor controller’s PID controller.
pid_derivative (int, default: 1)
The D paramater for the motor controller’s PID controller.
pid_denominator (int, default: 1000)
Divisor for the above PID paramaters.
pid_moving_buffer_size (int, default: 10)
Size of a moving buffer used in the control loop.
deadman_timer (int, default: 2400000)
If a message is not received after this interval (in MCU clock ticks), the motor controller should assume an error condition and stop.
battery_voltage_multiplier (float, default: 0.5185)
Used to calculate battery voltage from motor controller messages.
battery_voltage_offset (float, default: 0.40948)
Used to calculate battery voltage from motor controller messages.
Node parameters
controller_loop_rate (double, default: 20.0)
Rate (in Hz) at which to send commands to the motor controller hardware.
diff_drive_controller paramaters
left_wheel (string | string[…])
Left wheel joint name or list of joint names.
right_wheel (string | string[…])
Right wheel joint name or list of joint names.
pose_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry pose publishing.
twist_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry twist publishing.
publish_rate (double, default: 50.0)
Frequency (in Hz) at which the odometry is published. Used for both tf and odom.
wheel_separation_multiplier (double, default: 1.0)
Multiplier applied to the wheel separation parameter. This is used to account for a difference between the robot model and a real robot.
wheel_radius_multiplier (double, default: 1.0)
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/UbiquityRobotics/ubiquity_motor.git |
| VCS Type | git |
| VCS Version | hydro |
| Last Updated | 2015-08-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ubiquity_motor | 0.1.0 |
README
ubiquity_motor
Package that provides a ROS interface for the motors in UbiquityRobotics robots
To run this node:
rosrun ubiquity_motor ubiquity_motor
Parameters and defaults
/ubiquity/motor/device_name /dev/ttyUSB0
/ubiquity/motor/baud_rate 9600
/ubiquity/motor/odom_rate 1.0/20.0
/ubiquity/motor/diag_rate 2
/ubiquity/motor/spin_rate 1.0/100.0
Subscribes to
/cmd_vel geometry_msgs::Twist
Publishes
/odom nav_msgs::Odometry
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/UbiquityRobotics/ubiquity_motor.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2019-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ubiquity_motor | 0.9.0 |
README
ubiquity_motor
Introduction
This is a Package that provides a ROS interface for the motors in UbiquityRobotics robots. It communicates with the motor controller via a serial port.
Installation
This package may be installed from binaries for both x86 and ARM architectures.
The package may be installed with:
sudo apt-get install ros-kinetic-ubiquity-motor
Configuration launch files for the Magni robot are in the package magni_robot.
ROS API
Subscribed topics
cmd_vel geometry_msgs/Twist
The command input.
Published topics
odom nav_msgs/Odometry
Odometry computed from motor controller messages.
/tf tf/tfMessage
The transform from odom to base_link
battery_state sensor_msgs/BatteryState
Charge state of the robot’s batteries.
publish_cmd geometry_msgs/TwistStamped
The value of cmd_vel after limits were applied. Available if the publish_cmd paramater is set.
Parameters
Comms paramaters
serial_port (string, default: “/dev/ttyS0”)
Name of device with which to communicate with motor controller hardware.
baud_rate (int, default: 9600)
Baud rate for serial communication with motor controller hardware.
Firmware parameters
pid_proportional (int, default: 5000)
The P paramater for the motor controller’s PID controller.
pid_integral (int, default: 10)
The I paramater for the motor controller’s PID controller.
pid_derivative (int, default: 1)
The D paramater for the motor controller’s PID controller.
pid_denominator (int, default: 1000)
Divisor for the above PID paramaters.
pid_moving_buffer_size (int, default: 10)
Size of a moving buffer used in the control loop.
deadman_timer (int, default: 2400000)
If a message is not received after this interval (in MCU clock ticks), the motor controller should assume an error condition and stop.
battery_voltage_multiplier (float, default: 0.5185)
Used to calculate battery voltage from motor controller messages.
battery_voltage_offset (float, default: 0.40948)
Used to calculate battery voltage from motor controller messages.
Node parameters
controller_loop_rate (double, default: 20.0)
Rate (in Hz) at which to send commands to the motor controller hardware.
diff_drive_controller paramaters
left_wheel (string | string[…])
Left wheel joint name or list of joint names.
right_wheel (string | string[…])
Right wheel joint name or list of joint names.
pose_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry pose publishing.
twist_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry twist publishing.
publish_rate (double, default: 50.0)
Frequency (in Hz) at which the odometry is published. Used for both tf and odom.
wheel_separation_multiplier (double, default: 1.0)
Multiplier applied to the wheel separation parameter. This is used to account for a difference between the robot model and a real robot.
wheel_radius_multiplier (double, default: 1.0)
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/UbiquityRobotics/ubiquity_motor.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2022-02-28 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ubiquity_motor | 0.12.0 |
README
ubiquity_motor
Introduction
This is a Package that provides a ROS interface for the motors in UbiquityRobotics robots. It communicates with the motor controller via a serial port.
Installation
This package may be installed from binaries for both x86 and ARM architectures.
The package may be installed with:
sudo apt-get install ros-kinetic-ubiquity-motor
Configuration launch files for the Magni robot are in the package magni_robot.
ROS API
Subscribed topics
cmd_vel geometry_msgs/Twist
The command input.
system_control std_msgs/String
A channel to command the motor node to change mode of operation.
A text string with a commnad followed by parameter such as enable or disable are used.
motor_control disable Stops the MCB control over serial (used for firmware load)
motor_control enable Re-attaches the MCB control over serial for normal operation
speed_control disable Stops the robot so no speed control is used for collision avoiance
speed_control enable Re-enables the motor node to respond to cmd_vel speed messages
Published topics
odom nav_msgs/Odometry
Odometry computed from motor controller messages.
/tf tf/tfMessage
The transform from odom to base_link
battery_state sensor_msgs/BatteryState
Charge state of the robot’s batteries.
publish_cmd geometry_msgs/TwistStamped
The value of cmd_vel after limits were applied. Available if the publish_cmd paramater is set.
motor_power_active std_msgs/Bool
The state of motor power being active is published. This follows the ESTOP switch within about a half second.
motor_state ubiquity_motor::MotorState
The combined motor state for both wheels with positions, rotate rates, currents, pwm drive values
left_error std_msgs/Int32
The error in expected left wheel position relative to current left wheel position is published for diagnostics purposes.
right_error std_msgs/Int32
The error in expected right wheel position relative to current right wheel position is published for diagnostics purposes.
left_current std_msgs/Int32
The motor current in amps that the left motor is running at at this time
right_current std_msgs/Int32
The motor current in amps that the right motor is running at at this time
left_tick_interval std_msgs/Int32
A value that is proportional to the time between left wheel encoder ticks for usage in diagnostics. This unsigned value is only published when velocity is non zero.
right_tick_interval std_msgs/Int32
A value that is proportional to the time between right wheel encoder ticks for usage in diagnostics. This unsigned value is only published when velocity is non zero.
Parameters
Comms paramaters
serial_port (string, default: “/dev/ttyS0”)
Name of device with which to communicate with motor controller hardware.
baud_rate (int, default: 9600)
Baud rate for serial communication with motor controller hardware.
Firmware parameters
pid_proportional (int, default: 5000)
The P paramater for the motor controller’s PID controller.
pid_integral (int, default: 10)
The I paramater for the motor controller’s PID controller.
pid_derivative (int, default: 1)
The D paramater for the motor controller’s PID controller.
pid_denominator (int, default: 1000)
Divisor for the above PID paramaters.
pid_moving_buffer_size (int, default: 10)
Size of a moving buffer used in the control loop.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/UbiquityRobotics/ubiquity_motor.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2023-11-16 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ubiquity_motor | 0.14.1 |
README
ubiquity_motor
Introduction
This is a Package that provides a ROS interface for the motors in UbiquityRobotics robots. It communicates with the motor controller via a serial port.
Installation
This package may be installed from binaries for both x86 and ARM architectures.
The package may be installed with:
sudo apt-get install ros-kinetic-ubiquity-motor
Configuration launch files for the Magni robot are in the package magni_robot.
ROS API
Subscribed topics
cmd_vel geometry_msgs/Twist
The command input.
system_control std_msgs/String
A channel to command the motor node to change mode of operation.
A text string with a commnad followed by parameter such as enable or disable are used.
motor_control disable Stops the MCB control over serial (used for firmware load)
motor_control enable Re-attaches the MCB control over serial for normal operation
speed_control disable Stops the robot so no speed control is used for collision avoiance
speed_control enable Re-enables the motor node to respond to cmd_vel speed messages
Published topics
odom nav_msgs/Odometry
Odometry computed from motor controller messages.
/tf tf/tfMessage
The transform from odom to base_link
firmware_version std_msgs/String
Version of motor control board (MCB) firmware formatted as “vXX YYYYMMDD” or just “vXX” if there’s no daycode found.
battery_state sensor_msgs/BatteryState
Charge state of the robot’s batteries.
publish_cmd geometry_msgs/TwistStamped
The value of cmd_vel after limits were applied. Available if the publish_cmd paramater is set.
motor_power_active std_msgs/Bool
The state of motor power being active is published. This follows the ESTOP switch within about a half second.
motor_state ubiquity_motor::MotorState
The combined motor state for both wheels with positions, rotate rates, currents, pwm drive values
left_error std_msgs/Int32
The error in expected left wheel position relative to current left wheel position is published for diagnostics purposes.
right_error std_msgs/Int32
The error in expected right wheel position relative to current right wheel position is published for diagnostics purposes.
left_current std_msgs/Int32
The motor current in amps that the left motor is running at at this time
right_current std_msgs/Int32
The motor current in amps that the right motor is running at at this time
left_tick_interval std_msgs/Int32
A value that is proportional to the time between left wheel encoder ticks for usage in diagnostics. This unsigned value is only published when velocity is non zero.
right_tick_interval std_msgs/Int32
A value that is proportional to the time between right wheel encoder ticks for usage in diagnostics. This unsigned value is only published when velocity is non zero.
Parameters
Comms paramaters
serial_port (string, default: “/dev/ttyS0”)
Name of device with which to communicate with motor controller hardware.
baud_rate (int, default: 9600)
Baud rate for serial communication with motor controller hardware.
Firmware parameters
pid_proportional (int, default: 5000)
The P paramater for the motor controller’s PID controller.
pid_integral (int, default: 10)
The I paramater for the motor controller’s PID controller.
pid_derivative (int, default: 1)
The D paramater for the motor controller’s PID controller.
pid_denominator (int, default: 1000)
Divisor for the above PID paramaters.
File truncated at 100 lines see the full file