ArbotiX IO Channels

This module is part of the arbotix_python package.

The ArbotiX package enables streaming of analog inputs, digital inputs, and digital outputs.

driver.py

Subscribed Topics

~<name> (arbotix_msgs/Digital)
  • Command for digital outputs.

Published Topics

~<name> (arbotix_msgs/Digital)
  • Stream of data for an analog or digital input.

Services

~SetupAnalogIn (arbotix_msgs/SetupChannel)
  • Setup a new analog topic broadcast.
~SetupDigitalIn (arbotix_msgs/SetupChannel)
  • Setup a new analog topic broadcast.
~SetupDigitalOut (arbotix_msgs/SetupChannel)
  • Setup a new analog topic broadcast.

Parameters

~<name>/rate (int, default: 10)
  • Rate at which to publish inputs or update outputs.
~base/pin (int)
  • Analog/Digital pin to connect to.

Starting New Topics

???

YAML Configuration

ArbotiX-ROS based robots are typically configured through a YAML configuration file. A typical configuration file that includes several IO topics might be:

Wiki: arbotix_python/io (last edited 2011-02-11 05:24:43 by MichaelFerguson)