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Overview

This package provides a ROS node for Phidget's high speed 4-Input (1047) quadrature encoder decoder.

Launch examples

Assuming you already have roscore running on another terminal:

   1 rosrun phidgets_high_speed_encoder phidgets_high_speed_encoder _name:=wheels _serial:=1234567 _PUBLISH_RATE:=20 

Published topics:

  • phidgets/{name}/channel{0,1,2,3}: Tick count and instantaneous speed, for each channel.

  • phidgets/{name}/channel{0,1,2,3}_decim_speed: Decimated (smoothed) speed for each channel.

Parameters:

  • serial: Board serial number to open.

  • name: Postfix for building topic names (Default="encoder")

  • PUBLISH_RATE: Rate (in Hz) to publish status updates. (Default=20)

  • SPEED_FILTER_SAMPLES_LEN: (Default=10) Number of samples for the sliding window average filter of speeds.

  • SPEED_FILTER_IDLE_ITER_LOOPS_BEFORE_RESET: (Default=1) Number of "ITERATE" loops without any new encoder tick before resetting the filtered average velocities.

Wiki: phidgets_high_speed_encoder (last edited 2017-08-09 22:59:02 by Jose Luis Blanco)