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Only released in EOL distros:   fuerte

Supported Hardware

This driver works with a Phidgets Interface Kit, Phidget Spatial and Phidget Encoders board

ROS API

corobot_phidget

corobot_phidget is a driver for Phidgets Phidget Interface Kit, Phidget Spatial and phidget Encoders, adapted for the Corobot. This driver was designed to get different kind of data for the corobot.

Published Topics

position_data (corobot_msgs/PosMsg)

• This topic sends every 50ms the position of the robot

infrared_data (corobot_msgs/IrMsg)

• This topic sends every 50ms the voltage value of both infrared sensors. It also send the conversion in meters.

power_data (corobot_msgs/PowerMsg)

• This topic sends every 50ms the power of battery left(in Volt)

bumper_data (corobot_msgs/BumperMsg)

• This topic sends every 50ms information coming from the Bumper to tell if an obstacle has been hit or not.

gripper_data (corobot_msgs/GrippergMsg)

• This topic sends every 50ms information coming from the gripper.

spatial_data (corobot_msgs/spatial)

• This topic sends every 50ms information coming from the imu.

imu_data (sensor_msgs/Imu)

• This topic sends every 50ms information coming from the imu.

phidget_info (corobot_msgs/phidget_info)

• This topic sends once at the creation of the node information related the initialization of the phidget device.

sonar_data (corobot_msgs/RangeSensor)

• This topic sends every 50ms the range in meters of every sonar sensors connected, if any.

Services

phidgetnode_set_odom (corobot_srvs/SetOdom)

• This service is used to set the odometer

Parameters

rearBumper (bool, default: false)

• Defines if some bumpers are present at the rear of the robot.

bwOutput (int, default: -1)

• pin number where the bw Output sonar connector is connected to the phidget Interface Kit, if any sonar is present.

strobeOutput (int, default: -1)

• pin number where the strobe Output sonar connector is connected to the phidget Interface Kit, if any sonar is present.

firstSonarInput (int, default: -1)

• pin number where the first sonar is connected to

lastSonarInput (int, default: -1)

• pin number where the last sonar is connected to

battery (int, default: 0)

• pin number where the battery sensor is connected

irFront (int, default: 1)

• pin number where the front infrared sensor is connected

irBack (int, default: 2)

• pin number where the back infrared sensor is connected

gripper (int, default: 3)

• pin number where gripper is connected