<> <> == 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: {{{#!shell 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_number`: 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. * `~frame_id`: The frame that all messages are published in. * `~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. ## AUTOGENERATED DON'T DELETE ## CategoryPackage