ROS driver for the ART steering servo controller. More...
#include <ros/ros.h>#include <art_msgs/ArtHertz.h>#include <art/polynomial.h>#include <art_msgs/SteeringCommand.h>#include <art_msgs/SteeringState.h>#include <art_msgs/IOadrState.h>#include "devsteer.h"#include "testwheel.h"
Include dependency graph for steering.cc:
Go to the source code of this file.
Classes | |
| class | ArtSteer |
Defines | |
| #define | CLASS "ArtSteer" |
| #define | USE_VOLTAGE_POLYNOMIAL 1 |
Functions | |
| int | main (int argc, char **argv) |
Variables | |
| static float const | epsilon = 0.01 |
Detailed Description
ROS driver for the ART steering servo controller.
This driver provides an interface to the steering servo for the ART robot vehicle.
- See also:
- <art/steering.h> for steering angle conversions and constants.
Publishes
- steering/state [art_msgs::SteeringState]
Subscribes:
- ioadr/state [art_msgs::IOadrState]
- if omitted, the steering position is assumed to start at 0.0 (centered) and all requested steering positions are assumed to be reached accurately.
- steering/cmd [art_msgs::SteeringCommand]
Sets the desired steering angle (in degrees). Position max_steer_degrees is fully left, 0.0 is centered, -max_steer_degrees is fully right. There are both absolute and relative versions of this command.
Parameters:
- ~/port (string)
- serial port name for steering controller (usually "/dev/steering")
- use "/dev/null" when simulating the device
- default: "/dev/steering" (actual hardware port)
- ~/diagnostic (bool)
- if true, publish extra diagnostic information not needed for normal operation
- default: false
- ~/calibration_period (integer)
- number of cycles to spend calibrating starting wheel position
- default: 19
- See also:
- <devsteer.h> for steering servo device options
Definition in file steering.cc.
Define Documentation
| #define CLASS "ArtSteer" |
Definition at line 74 of file steering.cc.
| #define USE_VOLTAGE_POLYNOMIAL 1 |
Definition at line 9 of file steering.cc.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 476 of file steering.cc.
Variable Documentation
float const epsilon = 0.01 [static] |
Definition at line 72 of file steering.cc.