This package provides communication driver to control PWMs with Erle-Brain

• Maintainer status: developed

• Maintainer: Erle Robotics <contact AT erlerobot DOT com>

• Author: Alejandro Hernández Cordero <ahcorde AT erlerobot DOT com>

• License:

• Bug/feature tracker: https://github.com/erlerobot/ros_erle_pwm/issues

• Source: git https://github.com/erlerobot/ros_erle_pwm.git (branch: master)

Overview

This package provides communication driver to control PWMs with Erle-Brain

Nodes

ros_erle_pwm_main

Subscribed Topics

ros_erle_pwm_writer

Published Topics

Using ros_erle_pwm

In this section we are going to explain how to use this package to change the status of the PWMs

ros_erle_pwm_main

Launch the subscriber:

rosrun ros_erle_pwm ros_erle_pwm_main

You can publish the pwm value with one of the two examples:

ros_erle_pwm_write.py

Usage in Python:

rosrun ros_erle_pwm ros_erle_pwm.py PWM_1 PWM_2 PWM_3 PWM_4 PWM_5 PWM_6 PWM_7 PWM_8

ros_erle_pwm_write

Usage in C++:

rosrun ros_erle_pwm ros_erle_pwm PWM_1 PWM_2 PWM_3 PWM_4 PWM_5 PWM_6 PWM_7 PWM_8

Example

If you want to change the values of the PWM execute:

rosrun ros_erle_pwm ros_erle_pwm_writer 900 800 850 400 200 400 100 756

Configure your network

If you are working with two different machines, for example: Erle-Brain and your laptop remember to configure ROS_MASTER_URI and ROS_IP. Maybe could be interesting to put this lines in your bashrc.

Erle-Brain

export ROS_MASTER_URI=http://192.168.7.2:11311
export ROS_IP=192.168.7.2

Laptop or PC:

export ROS_MASTER_URI=http://192.168.7.2:11311
export ROS_IP=192.168.7.1

Support forums and chats

Please ask your questions not related to bugs/feauture requests on:

• Erle Robotics Forum: http://forum.erlerobotics.com/

We'd like to keep the project bugtracker as free as possible, so please contact via the above methods.

Related Links

• Erle Robotics: https://erlerobotics.com

• Erle-Brain: https://erlerobotics.com/blog/product/erle-brain/