Only released in EOL distros:  

Corobot: PhidgetMotor | PhidgetServo | corobot_arm | corobot_camera | corobot_gps | corobot_hokuyo | corobot_joystick | corobot_map_to_jpeg | corobot_msgs | corobot_pantilt | corobot_phidgetIK | corobot_srvs | corobot_ssc32 | corobot_state_tf | corobot_teleop
Package LinksDependencies (5)
Used by (2)

Package Summary

Documented

Node interfacing the Phidget Advanced Servo Controller. This package depends on the Phidget client library being installed manually: http://www.phidgets.com/drivers.php

Contents

  1. Supported Hardware
  2. ROS API
    1. PhidgetServo
      1. Subscribed Topics
      2. Published Topics
      3. Services
      4. Parameters

Supported Hardware

This driver works with a Phidgets Servo Controller

ROS API

PhidgetServo

PhidgetServo is a driver for Phidgets Servo Controller. This driver was designed to control the movement of the arm of a Corobot.

Subscribed Topics

phidgetServo_setPosition (corobot_msgs/ServoPosition)
  • Set the position of a servo motor
phidgetServo_setType (corobot_msgs/ServoType)
  • Set the type of a servo motor

Published Topics

phidgetServo_getPosition (corobot_msgs/ServoPosition)
  • get new position of a servo motor

Services

phidgetServo_getEngaged (corobot_srvs/GetEngaged)
  • Get the status of a servo motor connected, to know if it is engaged ( powered on) or not.
phidgetServo_setEngaged (corobot_srvs/SetEngaged)
  • Set the status of a servo motor, engaged( powered on) or not.
phidgetServo_getPosition (corobot_srvs/GetPosition)
  • Get the position of a servo motor.
phidgetServo_setPosition (corobot_srvs/SetPosition)
  • Set the position of a servo motor.
phidgetServo_getPositionMax (corobot_srvs/GetPosition)
  • Get the maximum position possible of a servo motor.
phidgetServo_getPositionMin (corobot_srvs/GetPosition)
  • Get the minimum position possible of a servo motor
phidgetServo_getMotorCount (corobot_srvs/GetMotorCount)
  • Get the maximum number of servo motors that can be connected to this Phidget Servo controller.
phidgetServo_setServoParameters (corobot_srvs/SetParam)
  • Get the parameters of a servo motor.
phidgetServo_getSerialNumber (corobot_srvs/GetSerialNumber)
  • Get the serial number of the current phidget servo controller. Useful if there are two phidget servo controllers connected.
phidgetServo_getServoType (corobot_srvs/GetType)
  • Get the type of servo motor pluged in
phidgetServo_setServoType (corobot_srvs/SetType)
  • Set the servo motor to one of the defined types

Parameters

serialNumber (int, default: -1)
  • If more than one Phidget Servo controller you can set the serial number of the one you want to use

Wiki: PhidgetServo (last edited 2012-11-05 19:59:09 by MorganCormier)

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