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.