phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_ik | phidgets_imu | phidgets_msgs

Package Summary

Driver for the Phidgets high speed encoder devices

  • Maintainer status: maintained
  • Maintainer: Martin Günther <martin.guenther AT dfki DOT de>, Chris Lalancette <clalancette AT openrobotics DOT org>
  • Author: Geoff Viola <geoffrey.viola AT asirobots DOT com>, José-Luis Blanco Claraco <jlblanco AT ual DOT es>
  • License: BSD
  • Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: kinetic)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_imu

Package Summary

Driver for the Phidgets high speed encoder devices

  • Maintainer status: developed
  • Maintainer: Geoff Viola <geoffrey.viola AT asirobots DOT com>, José-Luis Blanco Claraco <jlblanco AT ual DOT es>
  • Author: Geoff Viola <geoffrey.viola AT asirobots DOT com>
  • License: BSD
  • Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: lunar)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_ik | phidgets_imu | phidgets_msgs

Package Summary

Driver for the Phidgets high speed encoder devices

  • Maintainer status: maintained
  • Maintainer: Martin Günther <martin.guenther AT dfki DOT de>, Chris Lalancette <clalancette AT openrobotics DOT org>
  • Author: Geoff Viola <geoffrey.viola AT asirobots DOT com>, José-Luis Blanco Claraco <jlblanco AT ual DOT es>
  • License: BSD
  • Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: melodic)

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 _joint0_name:=wheel_FR _joint1_name:=wheel_FL _joint2_name:=wheel_RR _joint3_name:=wheel_RL _serial_number:=1234567 _PUBLISH_RATE:=20 

Published topics:

  • joint_states: JointState msg with position and instantaneous speed of each axis.

  • joint_states_ch{0,1,2,3}_decim_speed: EncoderDecimatedSpeed msg with decimated (smoothed) speed for each channel.

Parameters:

  • serial_name: Board serial number to open.

  • joint{0,1,2,3}_name: Name of each axis; to be published inside the name field of each JointState msg.

  • joint{0,1,2,3}_tick2rad: Conversion factor from encoder "ticks" (counts) to radians.

  • 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 2017-09-30 23:50:00 by Jose Luis Blanco)