Only released in EOL distros:
wg_hardware_test: ectools | life_test | pr2_camera_focus | pr2_component_descriptions | pr2_drive_life_test | pr2_hardware_test_monitor | pr2_transmission_check | qualification | roslaunch_caller | wg_invent_client | wgtest_status_indicator
Package Summary
No API documentation
pr2_transmission_check
- Author: Kevin Watts
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/wg_hardware_test/tags/wg_hardware_test-0.3.4
wg_hardware_test: ectools | life_test | mtrace_tools | pr2_camera_focus | pr2_component_descriptions | pr2_drive_life_test | pr2_hardware_test_monitor | pr2_transmission_check | qualification | roslaunch_caller | wg_invent_client | wgtest_status_indicator
Package Summary
Documented
pr2_transmission_check
- Author: Kevin Watts
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/wg_hardware_test/trunk
Overview
Checks transmissions status of PR2 transmissions.
To do this, it loads the URDF from the robot_description param, and checks that each actuator calibration flag corresponds to the correct joint position. It works for all joints with simple transmissions, and wrist transmissions.
Once a transmission reports invalid data, the "pr2_etherCAT/halt_motors" service will be called. Users must reset motors using the pr2_dashboard.
Nodes
pr2_transmission_check
Publishes joint and controller diagnostics, checks transmissionsPublished Topics
~transmission_status (std_msgs/Bool)- True if transmissions are OK
- Publishes output for each transmission
Services
~reset_trans_check (pr2_power_board/PowerBoardCommand2)- Reset the transmission status to True
All transmissions will publish diagnostics on last observed position, the joints and actuators, and the number of errors. Joints that have transmission errors will be in error state until reset.
