art_servo Documentation

art_servo: ART vehicle servo device drivers

ROS nodes for the ART autonomous vehicle servo devices.

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

Servo device drivers for the ART automonous vehicle.

Brake Servo Driver

Driver for ART brake servo mechanism.

Examples

Test the ART brake driver using /dev/null, publishing simulated brake/state messages and accepting brake/cmd messages.

  rosrun art_servo brake

Run the brake driver with the real ART brake device, publishing brake/state messages and accepting brake/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo brake _port:=/dev/brake

Brake ROS API

Node name: brake

Subscribes to: brake/cmd: brake commands.

Publishes: brake/state: brake status information.

Parameters:

• ~/port: brake serial port name (default: /dev/null).
• ~/apply_on_exit: set brake when exiting (default: false).
• ~/training: use training mode, provide status, but apply no brake commands (default: false).
• ~/diagnostic: provide extra diagnostic information in brake/state message (default: false).
• ~/emulate_script: emulate robot-brake setup script (default: false).

Gear Shifter Driver

Driver for ART gear shifter. It uses an instance of the National Control Devices IOADR8x driver communicating with a dedicated IOADR8x board connected to an Arens Controls shifter mechanism.

Examples

Test the ART shifter driver with /dev/null, publishing simulated shifter/state messages and accepting shifter/cmd messages.

  rosrun art_servo ioadr ioadr:=shifter

Run the ART shifter driver connected to the I/O board on serial port /dev/shifter, publishing shifter/state messages and accepting shifter/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo ioadr ioadr:=shifter _port:=/dev/shifter

Shifter ROS API

Node name: shifter

Subscribes to: shifter/cmd: shifter commands.

Publishes: shifter/state: shifter status information.

Parameters:

• ~/port: shifter serial port name (default: /dev/null).

Steering Servo Driver

Driver for ART steering servo mechanism.

Examples

Test the ART steering driver using /dev/null, publishing simulated steering/state messages and accepting steering/cmd messages.

  rosrun art_servo steering

Run the steering driver with the real ART steering controller, publishing steering/state messages and accepting steering/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo steering _port:=/dev/steering

Steering ROS API

Node name: steering

Subscribes to:

• steering/cmd: steering commands.
• ioadr/state: steering position sensor (not yet implemented).

Publishes: steering/state: steering status information.

Parameters:

• ~/port: steering serial port name (default: /dev/null).
• ~/diagnostic: provide extra diagnostic information in steering/state message (default: false).
• others TBD

Gear Shift Tool

Simple tool to shift the ART vehicle transmission.

Usage

  rosrun art_servo shift.py <gear>

    Where <gear> is one of: park, reverse, neutral, drive.  These
    names are not case-sensitive, and may be abbreviated to the first
    character.

Examples

Shift the transmission into Neutral.

  rosrun art_servo shift.py Neutral

Shift the transmission into Drive.

  rosrun art_servo shift.py drive

Shift the transmission into Reverse.

  rosrun art_servo shift.py r

ROS API

• Node name: shift
• Subscribes to: shifter/state: shifter status information.
• Publishes: shifter/cmd: shifter commands.

Unit Test Tools

Simple test clients for various servo mechanisms.

Examples

Command the brake driver to gradually apply and release the brake mechanism.

  rosrun art_servo test_brake.py

Command the shifter driver to shift the transmission through all the gears.

  rosrun art_servo test_shift.py

Command the steering driver to gradually turn the steering wheel through its full range of motion.

  rosrun art_servo test_steering.py