corobot_phidget_ik Documentation

corobot_phidget_ik

this package is an interface to the device Phidget interface Kit 8/8/8 for CoroWare's robot Corobot.

• Homepage: http://wiki.ros.org/corobot_phidget_ik

corobot_phidgetIK is ...

Services

The phidget node provides the following device services:

• phidgetnode_set_odom
  • Service Type : corobot_srvs::SetOdom
  • This service is used to set the odometer.

Topics

Input

Output

• position_data
  • Message Type : corobot_msgs::PosMsg
  • This topic sends every 200ms the position of the robot.

• infrared_data
  • Message Type : corobot_msgs::IrMsg
  • This topic sends every 200ms the voltage value of both infrared sensors. It also send the conversion in meters.

• power_data
  • Message Type : corobot_msgs::PowerMsg
  • This topic sends every 200ms the power of battery left(in Volt)

• bumper_data
  • Message Type : corobot_msgs::BumperMsg
  • This topic sends every 200ms information coming from the Bumper to tell if an obstacle has been hit or not.

• gripper_data
  • Message Type : corobot_msgs::GrippergMsg
  • This topic sends every 200ms information coming from the gripper.

• spatial_data
  • Message Type : corobot_msgs::spatial
  • This topic sends every 200ms information coming from the imu.

• imu_data
  • Message Type : sensor_msgs::Imu
  • This topic sends every 200ms information coming from the imu.

• phidget_info
  • Message Type : corobot_msgs::phidget_info
  • This topic sends once at the creation of the node information related the initialization of the phidget device.

• sonar_data
  • Message Type : corobot_msgs::RangeSensor
  • This topic sends every 50ms the range in meters of every sonar sensors connected, if any.

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