[Documentation] [TitleIndex] [WordIndex

Only released in EOL distros:  

bosch_drivers: amtec | bma180 | photo | smi540 | sub20 | usb_cam

Package Summary

A driver for the Schunk(formerly Amtec) pan-tilt unit. Provides a library, ROS wrapper, test program and ROS node for sweeping the unit.

bosch_drivers: adc_sub20 | amtec | bma180 | bmp085 | gumstix_memread_bma180 | gumstix_memwrite_bma180 | photo | smi540 | sub20 | usb_cam

Package Summary

A driver for the Schunk(formerly Amtec) pan-tilt unit. Provides a library, ROS wrapper, test program and ROS node for sweeping the unit.

bosch_drivers: adc_driver | adc_sub20 | amtec | arduino_interface | bma180 | bma180_driver | bmc050_driver | bmg160_driver | bmp085 | bmp085_driver | bosch_drivers_basic_nodes | bosch_drivers_common | bosch_drivers_example_nodes | encoder_driver | gpio_driver | gumstix_memread_bma180 | gumstix_memwrite_bma180 | photo | pwm_driver | smi540 | sub20 | sub20_interface | uniserial | usb_cam

Package Summary

A driver for the Schunk(formerly Amtec) pan-tilt unit. Provides a library, ROS wrapper, test program and ROS node for sweeping the unit.

bosch_drivers: adc_driver | adc_sub20 | amtec | arduino_interface | bma180 | bma180_driver | bmc050_driver | bmg160_driver | bmp085 | bmp085_driver | bosch_drivers_basic_nodes | bosch_drivers_common | bosch_drivers_example_nodes | encoder_driver | gpio_driver | gumstix_memread_bma180 | gumstix_memwrite_bma180 | photo | pwm_driver | smi540 | sub20 | sub20_interface | uniserial | usb_cam

Package Summary

A driver for the Schunk(formerly Amtec) pan-tilt unit. Provides a library, ROS wrapper, test program and ROS node for sweeping the unit.

Nodes

amtec_node

The Amtec node interfaces with the Schunk (formerly Amtec) pan tilt unit. It provides services to control the motion of the unit, publishes status messages and publishes transforms.

Parameters

Motion Parameters

~<name>/pan_min_pos (double, default: -3.5)

~<name>/pan_max_pos (double, default: 3.5) ~<name>/pan_max_vel (double, default: 2.0) ~<name>/pan_max_acc (double, default: 5.0) ~<name>/pan_max_curr (double, default: 10.0) ~<name>/pan_c0 (integer, default: 12) ~<name>/pan_damp (integer, default: 4) ~<name>/pan_a0 (integer, default: 2)

~<name>/tilt_min_pos (double, default: -3.5)

~<name>/tilt_max_pos (double, default: 3.5) ~<name>/tilt_max_vel (double, default: 2.0) ~<name>/tilt_max_acc (double, default: 5.0) ~<name>/tilt_max_curr (double, default: 10.0) ~<name>/tilt_c0 (integer, default: 18) ~<name>/tilt_damp (integer, default: 3) ~<name>/tilt_a0 (integer, default: 1) ~<name>tilt_use_break (integer, default: 1)

Unit ID Parameters

~<name>/pan_id (integer, default: 14)

~<name>/tilt_id (integer, default: 13)

Frame Parameters

~<name>/parent_frame (string, default: "head_link")

~<name>/amtec_frame (string, default: "amtec_link")

Connection Parameters

~<name>/port (string, default: "/dev/ttyUSB2")

~<name>/parity (string, default: "N") ~<name>/baud_rate (integer, default: 38400) ~<name>/stop_bits (integer, default: 1) ~<name>/hardware_flow_control (integer, default: 0) ~<name>/software_flow_control (integer, default: 0)

Published Topics

~<name>/pan_state (amtec/AmtecState) ~<name>/tilt_state (amtec/AmtecState)

Services

~<name>/get_status (amtec/GetStatus) ~<name>/halt (amtec/Halt) ~<name>/home (amtec/Home) ~<name>/set_position (amtec/SetPosition) ~<name>/set_velocity (amtec/SetVelocity) ~<name>/target_acceleration (amtec/TargetAcceleration) ~<name>/target_velocity (amtec/TargetVelocity) ~<name>/sweep_pan (amtec/SweepPan) ~<name>/sweep_tilt (amtec/SweepTilt)

sweep_amtec

Sweeps pan axis of amtec using trapezoidal motion profiles instead of the sinusoidal motion profiles provided by amtec_node directly. Uses the services provided by amtec_node.

Parameters

~<name>/pan_start (double, default: -0.6) ~<name>/pan_stop (double, default: 0.6) ~<name>/pan_velocity (double, default: 2.5) ~<name>/pan_acceleration (double, default: 4.0)

test_amtec

A node that will attempt to establish a connection to an amtec unit, reset it, home it and then exit. the device and baud_rate should be specified on the command line. Uses libamtec directly, it doesn't go through amtec_node.


2019-07-13 12:27