#include <assert.h>#include <unistd.h>#include <stdio.h>#include <math.h>#include "ros/ros.h"#include <art/pid2.h>#include <art_msgs/BrakeCommand.h>#include <art_msgs/BrakeState.h>#include <art_msgs/ArtHertz.h>#include "devbrake.h"
Include dependency graph for brake.cc:
Go to the source code of this file.
Defines | |
| #define | NODE "brake" |
| ART brake servo driver. | |
Functions | |
| int | GetParameters (void) |
| int | main (int argc, char **argv) |
| float | PollDevice (void) |
| void | ProcessCommand (const art_msgs::BrakeCommand::ConstPtr &cmd) |
| int | Setup () |
| int | Shutdown () |
Variables | |
| ros::Subscriber | brake_cmd |
| ros::Publisher | brake_state |
Detailed Description
ROS driver for the ART brake servo controller.
Definition in file brake.cc.
Define Documentation
| #define NODE "brake" |
ART brake servo driver.
This driver provides a brake node interface to the brake servo for the ART robot vehicle.
Publishes
- brake/state topic
Commands
- brake/cmd topic
Sets the desired brake position. Position 1.0 is fully on, 0.0 is fully off. There are both absolute and relative versions of this command.
Parameters
- port (string)
- tty port name for the brake servo
- use "/dev/null" when simulating the device
- default: "/dev/brake" (actual hardware port)
- apply_on_exit (bool)
- unless false, apply full brake during shutdown.
- default: false
- training (bool)
- if true, log brake data, but do not send it any commands
- default: false
Training mode collects data while a human driver operates the vehicle.
- diagnostic (bool)
- if true, log extra diagnostic brake information not needed for normal operation
- default: false
- Todo:
describe initial calibration values
use ROS diagnostic_updater package
Function Documentation
| int GetParameters | ( | void | ) |
| float PollDevice | ( | void | ) |
| void ProcessCommand | ( | const art_msgs::BrakeCommand::ConstPtr & | cmd | ) |