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repository: git://github.com/neobotix/neo_driver

Serial Relay Board

The Serial Relay Board does not only handle and publish error states (as a laser stop or emergency stop) or the robots state (temperature, battery volts and the battery current), it can also control can-motor-drivers and publish range measurements (ultra sonic or infra red).

For the Relay Board exist a couple of expansion boards:

1. Gyro Board: publishes angular rates and acceleration on 3 axis.
2. I/O Board:
3. Radar Board: publishes velocities.

Topics to publish/subscribe and configuration parameters

Subscribed Topics

/cmd_drives (neo_msgs/DriveCmd)

• sets joint velocities

/srb_lcd_display (neo_msgs/LCDOut)

• sets lcd output

/srb_io_set_dig_out (neo_msgs/IOOut)

• sets digital output

/srb_start_us_board (std_msgs/Int16)

• starts the ultrasonic range board

/srb_stop_us_board (std_msgs/Empty)

• stops the ultrasonic board

/srb_zero_gyro (std_msgs/Empty)

• zeros the gyro

Published Topics

/drive_states (neo_msgs/DriveStates)

• publishes joint states

/srb_io_dig_in (std_msgs/Int16)

• publishes digital input

/srb_io_dig_out (std_msgs/Int16)

• publishes digital output

/srb_io_analog_in (neo_msgs/IOAnalogIn)

• publishes analog input

/srb_us_measurements (neo_msgs/USBoard)

• publishes ultrasonic sensor readings

/srb_radar_measurements (neo_msgs/RadarBoard)

• publishes radar sensor readings

/srb_gyro_measurements (neo_msgs/GyroBoard)

• publishes gyro sensor readings

/srb_keypad (neo_msgs/Keypad)

• publishes keypad pushbutton readings

/srb_ir_measurements (neo_msgs/IRSensors)

• publishes infrared range sensor readings

Parameters

message_timeout (, default: 2.0)

• sets the timeout for messages sent via serial port

requestRate (, default: 25.0)

• sets the rate for communicating with the serial relay board

protocol_version (, default: 1)

• sets the serial relayboard version

ComPort ()

• sets the comport (for example /dev/ttyUSB1)

drive1/CANId ()

• sets the canid of the first drive

drive2/CANId ()

• sets the canid of the second drive

drive1/joint_name ()

• sets the drives jointname

drive2/joint_name ()

• sets the drives jointname

hasMotorRight ()

• are motors connected to the serial relay board? [true/false]

hasMotorLeft ()

• are motors connected to the serial relay board? [true/false]

hasIOBoard ()

• is the io-board connected? [true/false]

hasLCDOut ()

• is there an lcd display? [true/false]

hasUSBoard ()

• are us-sensors connected? [true/false]

hasRadarBoard ()

• is the radarboard connected? [true/false]

hasGyroBoard ()

• does the gyroboard exist? [true/false]

hasKeyPad ()

• is a keypad in use? [true/false]

hasIRSensors ()

• are there any ir-sensors? [true/false]

Troubleshooting

I can't communicate with the Serial Relay Board, though it powers on and displays stuff on the LCD:

Make sure that your config file does not enably any non existing expansion boards/motors and that you've choose the right relayboard version and poweroff the serial relay board afterwards.

Launching relayboard.launch fails because the $ROBOT_drive*.yaml files are missing:

Set the arg "loadDrives" to "false"

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