This is a ROS package for communicating with one or more Muse Modules.

Node

Published Topics

muse/module_discovery (muse/module_list.msg)

 Provides a *list* with all active Muse Modules, that are visible through current network and the *number* of them.
 The *list* provides some information for each module: module name, module ip, module status.

<feedback_topic_name> (muse/feedback.msg)

 Provides the *name* of current Muse Module and also, feedback - *current [A]*, *speed [krpm]*, *position [revs]*, *bus voltage [V]*, *temperature [C]* - possible *erros/faults*, *control mode* and *fsm state*.

Subscribed Topics

muse/communication (muse/communication_cmd.msg)

 A command to open or close the topics needed for communication with a single Muse Module. You have to set the ip or name of desired Module and you choose the names of topics needed to send commands and get feedback from it. You can get Module's name or ip from *muse/communication* publisher and see if it's connected to the network.

<control_commands_topic_name> (muse/control_cmd.msg)

 An interface to send control commands to Muse Module. Commands provided: 
 * SET_CONTROL_LIMITS            
 * SET_CURRENT_GAINS
 * SET_SPEED_GAINS
 * SET_POSITION_GAINS
 * SET_CURRENT
 * SET_SPEED
 * SET_POSITION

<state_machine_commands_topic_name> (muse/state_machine_cmd.msg)

 An interface to send state machine commands to Muse Module. Commands provided: 
 * CONNECT                                       
 * DISCONNECT
 * STARTUP
 * SHUTDOWN
 * ENABLE_SERVO
 * DISABLE_SERVO
 * CONTROL_ON
 * CONTROL_OFF
 * QUICK_ENABLE
 * CALIBRATE_ELEC_ANGLE_OFFSET
 * CALIBRATE_START
 * SET_NAME
 * CLEAR_FAULTS                  
 * CLEAR_ERRORS

Parameters

control frequency(float64, default: 1000.0)

 This is the frequency that Muse Node can handle sent commands.

feedback frequency(float64, default: 1000.0)

 This is the frequency of published feedback from Muse Node.