Only released in EOL distros:   electric fuerte groovy

Device Driver Nodes

This package contains ROS drivers for all servo devices on the ART autonomous vehicle.

brake

Driver for ART brake servo mechanism.

Subscribed Topics

brake/cmd (art_msgs/BrakeCommand)

• brake commands

Published Topics

brake/state (art_msgs/BrakeState)

• brake status information

Parameters

~port (string, default: "/dev/brake")

• Serial port name for the brake servo. Simulate device, if /dev/null.

~apply_on_exit (bool, default: false)

• Apply full brake during shutdown.

~training (bool, default: false)

• Publish brake data, but do not send it any commands. This mode collects data while a human driver operates the vehicle.

~diagnostic (bool, default: false)

• Publish extra diagnostic brake information not needed for normal operation.

Examples

Test the ART brake driver using /dev/null, publishing simulated brake/state messages and accepting brake/cmd messages.

  rosrun art_servo brake

Run the brake driver with the real ART brake device. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo brake _port:=/dev/brake

ioadr

Driver for National Control Devices IOADR8x multipurpose I/O board.

Subscribed Topics

ioadr/cmd (art_msgs/IOadrCommand)

• commands to set or clear relays

Published Topics

ioadr/state (art_msgs/IOadrState)

• ioadr status information: relays, digital input and analog voltages

Parameters

~port (string, default: "/dev/ioadr8x")

• Serial port name for the ioadr device. Simulate device, if /dev/null.

~shifter (string, default: false)

• set false when not controlling shifter interface.

Examples

Test the ART ioadr driver with /dev/null, publishing simulated ioadr/state messages and accepting ioadr/cmd messages.

  rosrun art_servo ioadr _port:=/dev/null

Run the ART ioadr driver connected to the I/O board on serial port /dev/ioadr, publishing ioadr/state messages and accepting ioadr/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo ioadr

shifter

Gear Shifter Driver, uses an instance of the ioadr driver communicating with a separate, dedicated NCD IOADR8x board connected to an Arens Controls shifter mechanism.

Subscribed Topics

shifter/cmd (art_msgs/Shifter)

• gear shift requests

Published Topics

shifter/state (art_msgs/Shifter)

• shifter status: current gear, relay values

Parameters

~port (string, default: "/dev/shifter")

• Serial port name for the ioadr device. Simulate device, if /dev/null.

~shifter (string, default: false)

• set true for shifter control interface.

Examples

Test the ART shifter driver with /dev/null, publishing simulated shifter/state messages and accepting shifter/cmd messages.

  rosrun art_servo ioadr shifter:=true _port:=/dev/null

Run the ART shifter driver connected to the I/O board on serial port /dev/shifter, publishing shifter/state messages and accepting shifter/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo ioadr shifter:=true

steering

Steering Servo Driver.

Subscribed Topics

steering/cmd (art_msgs/SteeringCommand)

• steering requests

Published Topics

steering/state (art_msgs/SteeringState)

• steering status information, including wheel angle

Parameters

~port (string, default: "/dev/steering")

• Serial port name for the steering device. Simulate device, if /dev/null.

~training (bool, default: false)

• Publish steering data, but do not send any commands. This mode collects data while a human driver operates the vehicle.

~diagnostic (bool, default: false)

• Publish extra diagnostic steering information not needed for normal operation.

Examples

Test the ART steering driver using /dev/null, publishing simulated steering/state messages and accepting steering/cmd messages.

  rosrun art_servo steering _port:=/dev/null

Run the steering driver with the real ART steering controller. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo steering

throttle

Throttle Servo Driver.

Subscribed Topics

throttle/cmd (art_msgs/ThrottleCommand)

• throttle requests

Published Topics

throttle/state (art_msgs/ThrottleState)

• throttle status information

Parameters

~port (string, default: "/dev/throttle")

• Serial port name for the throttle device. Simulate device, if /dev/null.

~training (bool, default: false)

• Publish throttle data, but do not send any commands. This mode collects data while a human driver operates the vehicle.

~diagnostic (bool, default: false)

• Publish extra diagnostic throttle information not needed for normal operation.

Examples

Test the ART throttle driver using /dev/null, publishing simulated throttle/state messages and accepting throttle/cmd messages.

  rosrun art_servo throttle _port:=/dev/null

Run the throttle driver with the real ART throttle controller. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo throttle

Utility Commands

shift

Simple tool to shift the ART vehicle transmission.

Subscribed Topics

shifter/state (art_msgs/Shifter)

• shifter status information

Published Topics

shifter/cmd (art_msgs/Shifter)

• shifter requests

Usage

  rosrun art_servo shift.py <gear>

    Where <gear> is one of: park, reverse, neutral, drive.  These
    names are not case-sensitive, and may be abbreviated to the first
    character.

Examples

Shift the transmission into Neutral.

  rosrun art_servo shift.py Neutral

Shift the transmission into Drive.

  rosrun art_servo shift.py drive

Shift the transmission into Reverse.

  rosrun art_servo shift.py r