steering.cc File Reference

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

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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

Author:

Jack O'Quin

Definition in file steering.cc.

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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.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 476 of file steering.cc.

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Variable Documentation

float const epsilon = 0.01 [static]

Definition at line 72 of file steering.cc.