phidgets_high_speed_encoder

Driver for the Phidgets high speed encoder devices

README

This is the ROS 2 driver for Phidgets high speed encoder.

To run this driver standalone, do the following:

ros2 launch phidgets_high_speed_encoder high_speed_encoder-launch.py

/joint_states (sensor_msgs/JointState) - A joint state message containing the current state of all encoders.
/joint_states_chXX_decim_speed (phidgets_msgs/EncoderDecimatedSpeed) - One topic per encoder of the decimated (average) speed reading from the encoder.

~/zero (phidgets_msgs/srv::Trigger) - Service to zero the encoder count for a specific channel. The request takes an integer channel and returns a success boolean and a message string.

serial (int) - The serial number of the phidgets high speed encoder to connect to. If -1 (the default), connects to any high speed encoder phidget that can be found.
hub_port (int) - The phidgets VINT hub port to connect to. Only used if the high speed encoder phidget is connected to a VINT hub. Defaults to 0.
frame_id (string) - The header frame ID to use when publishing the message. Defaults to encoder_link.
speed_filter_samples_len (int) - The number of data points over which to average the speed. Defaults to 10.
speed_filter_idle_iter_loops_before_reset (int) - The number of idle loops (loops with no data) before the average speed will be reset to 0. Defaults to 1.
publish_rate (double) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (event-driven on position change). If positive, it will publish the data at that rate regardless of the acquisition interval.
server_name (string) - Optional: The name of the Phidgets network server to connect to.
server_ip (string) - Optional: The IP address of the Phidgets network server to connect to.
joint{i}_name (string) - name of the i-th joint in the JointState message
joint{i}_tick2rad (double) - Count multiplier applied to the i-th joint. For instance, with a 300 CPR encoder and a 14:1 reduction, one can use 2*pi/(14 * 300 * 4) to convert the ticks to radians, accounting for the quadrature cycles.