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Package Summary
Driver for the Phidgets high speed encoder devices
- Maintainer status: developed
- Maintainer: Martin Günther <martin.guenther AT dfki DOT de>, Chris Lalancette <clalancette AT openrobotics DOT org>
- Author: Geoff Viola <geoffrey.viola AT asirobots DOT com>, José-Luis Blanco Claraco <jlblanco AT ual DOT es>
- License: BSD
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: noetic)
Contents
Overview
This package provides a ROS node for Phidget's high speed 4-Input (1047) quadrature encoder decoder.
Launch examples
Assuming you already have roscore running on another terminal:
1 rosrun phidgets_high_speed_encoder phidgets_high_speed_encoder _joint0_name:=wheel_FR _joint1_name:=wheel_FL _joint2_name:=wheel_RR _joint3_name:=wheel_RL _serial_number:=1234567 _PUBLISH_RATE:=20
Published topics:
joint_states: JointState msg with position and instantaneous speed of each axis.
joint_states_ch{0,1,2,3}_decim_speed: EncoderDecimatedSpeed msg with decimated (smoothed) speed for each channel.
Parameters:
~serial_number: Board serial number to open.
~joint{0,1,2,3}_name: Name of each axis; to be published inside the name field of each JointState msg.
~joint{0,1,2,3}_tick2rad: Conversion factor from encoder "ticks" (counts) to radians.
~frame_id: The frame that all messages are published in.
~PUBLISH_RATE: Rate (in Hz) to publish status updates. (Default=20)
~SPEED_FILTER_SAMPLES_LEN: (Default=10) Number of samples for the sliding window average filter of speeds.
~SPEED_FILTER_IDLE_ITER_LOOPS_BEFORE_RESET: (Default=1) Number of "ITERATE" loops without any new encoder tick before resetting the filtered average velocities.