Only released in EOL distros:
corobot: corobot_arm | corobot_camera | corobot_diagnostics | corobot_gazebo | corobot_gps | corobot_joystick | corobot_launch | corobot_msgs | corobot_pantilt | corobot_phidget_ik | corobot_ssc32 | corobot_state_tf | corobot_teleop | corobot_urdf | map_to_jpeg | phidget_motor | phidget_servo | phidget_stepper
Package Summary
Documented
this package is an interface to the device Phidget interface Kit 8/8/8 for CoroWare's robot Corobot.
- Maintainer: Morgan Cormier <mcormier AT coroware DOT com>
- Author:
- License: GPL
- Source: git https://github.com/morgancormier/corobot.git (branch: master)
corobot: corobot_arm | corobot_camera | corobot_diagnostics | corobot_gazebo | corobot_gps | corobot_joystick | corobot_launch | corobot_msgs | corobot_pantilt | corobot_phidget_ik | corobot_ssc32 | corobot_state_tf | corobot_teleop | corobot_urdf | map_to_jpeg | phidget_motor | phidget_servo | phidget_stepper
Package Summary
Documented
this package is an interface to the device Phidget interface Kit 8/8/8 for CoroWare's robot Corobot.
- Maintainer: Morgan Cormier <mcormier AT coroware DOT com>
- Author:
- License: GPL
- Source: git https://github.com/morgancormier/corobot.git (branch: master)
Supported Hardware
This driver works with a Phidgets Interface Kit, Phidget Spatial
ROS API
corobot_phidget
corobot_phidget is a driver for Phidgets Phidget Interface Kit, Phidget Spatial and phidget Encoders, adapted for the Corobot. This driver was designed to get different kind of data for the corobot.Published Topics
infrared_data (corobot_msgs/IrMsg)- This topic sends every 50ms the voltage value of both infrared sensors. It also send the conversion in meters.
- This topic sends every 50ms the power of battery left(in Volt)
- This topic sends every 50ms information coming from the Bumper to tell if an obstacle has been hit or not.
- This topic send the data of the various sensors that can be connected to the board
- This topic sends every 50ms information coming from the imu.
- This topic sends every 50ms information coming from the magnetometer in the IMU.
- This topic sends every 50ms the range in meters of every sonar sensors connected, if any.
Services
calibrate_gyroscope (std_srvs/Empty)- Calibrate the gyroscope. The process takes about 2 seconds and the IMU shouldn't move during that time.
Parameters
rearBumper (bool, default: false)- Defines if some bumpers are present at the rear of the robot.
- pin number where the bw Output sonar connector is connected to the phidget Interface Kit, if any sonar is present.
- pin number where the strobe Output sonar connector is connected to the phidget Interface Kit, if any sonar is present.
- pin number where the first sonar is connected to
- pin number where the last sonar is connected to
- pin number where the battery sensor is connected
- pin number where the front infrared sensor is connected
- pin number where the back infrared sensor is connected
- specify if there is an imu connected or not
