Only released in EOL distros:  

maggie_devices: maggie_base | maggie_eyelids | maggie_ir_controller | maggie_labjack | maggie_motor_controller | maggie_rfid

Package Summary

eyelids node


This package provides basic functionality for controlling two servomotors working as eyelids of a robot.

Devices Supported

This device supports all the drivers implemented in the maggie_serial_comm_drivers package.

ROS Nodes


ROS node for controlling the servomotors of the eyelids.


move_abs_pos (motor_controller_msgs/MoveAbsPos)
  • Service to move the eyelid to an absolute position.
move_str_pos (eyelids_msgs/MoveStrPos)
  • Service to move the eyelid to a predefined position. Options are: open, close, normal.


~port (string)
  • Communication port name.
~side (string)
  • Eye option, left or right.

Launch File Examples

In a terminal window, start an eyelids node process running:

 $ roslaunch maggie_eyelids eyelids.launch robot:=maggie


An example of movement by string could be:

  1. Launch the node.
  2. Move by string:

 $ rosservice call /maggie/move_str_pos eyelids_msgs/MoveStrPos "open"

Wiki: maggie_eyelids (last edited 2015-06-12 09:18:31 by raul.perula)