ArbotiX IO Channels
This module is part of the arbotix_python package.
The ArbotiX package enables streaming of analog inputs, digital inputs, and digital outputs.
driver.py
Subscribed Topics
~<name> (arbotix_msgs/Digital)- Command for digital outputs.
Published Topics
~<name> (arbotix_msgs/Digital)- Stream of data for an analog or digital input.
Services
~SetupAnalogIn (arbotix_msgs/SetupChannel)- Setup a new analog topic broadcast.
- Setup a new analog topic broadcast.
- Setup a new analog topic broadcast.
Parameters
~<name>/rate (int, default: 10)- Rate at which to publish inputs or update outputs.
- Analog/Digital pin to connect to.
Starting New Topics
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YAML Configuration
ArbotiX-ROS based robots are typically configured through a YAML configuration file. A typical configuration file that includes several IO topics might be:
