Defines | Functions | Variables File Reference
#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

Go to the source code of this file.


#define NODE   "brake"
 ART brake servo driver.


int GetParameters (void)
int main (int argc, char **argv)
float PollDevice (void)
void ProcessCommand (const art_msgs::BrakeCommand::ConstPtr &cmd)
int Setup ()
int Shutdown ()


ros::Subscriber brake_cmd
ros::Publisher brake_state

Detailed Description

ROS driver for the ART brake servo controller.

Jack O'Quin

Definition in file

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.


  • brake/state topic


  • 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.


  • 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

describe initial calibration values

use ROS diagnostic_updater package

Jack O'Quin

Definition at line 80 of file

Function Documentation

int GetParameters ( void  )

Definition at line 101 of file

int main ( int  argc,
char **  argv 

Definition at line 242 of file

float PollDevice ( void  )

Definition at line 218 of file

Definition at line 184 of file

int Setup ( )

Definition at line 159 of file

int Shutdown ( )

Definition at line 177 of file

Variable Documentation

Definition at line 98 of file

Definition at line 99 of file

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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:43:23