phidgets_motors

Driver for the Phidgets Motor devices

README

This is the ROS 2 driver for Phidgets motor.

To run this driver standalone, do the following:

ros2 launch phidgets_motors motors-launch.py

/motor_duty_cycleXX (std_msgs/Float64) - Get the motor duty cycle. One topic is created for each motor attached.
/motor_back_emfXX (std_msgs/Float64) - Get the motor back EMF value if supported by device. One topic is created for each motor attached.

/set_motor_duty_cycleXX (std_msgs/Float64) - Set the motor duty cycle. One topic is created for each motor attached.

serial (int) - The serial number of the phidgets motor to connect to. If -1 (the default), connects to any motor phidget that can be found.
hub_port (int) - The phidgets VINT hub port to connect to. Only used if the motor phidget is connected to a VINT hub. Defaults to 0.
braking_strength (double) - The braking strength to apply when the duty cycle is 0. Defaults to 0.0.
data_interval_ms (int) - The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 250 ms.
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 (so at the data_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.