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Only released in EOL distros:  

tug_ist_model_based_diagnosis: tug_ist_diagnosis_board | tug_ist_diagnosis_engine | tug_ist_diagnosis_generator | tug_ist_diagnosis_launch | tug_ist_diagnosis_model | tug_ist_diagnosis_msgs | tug_ist_diagnosis_observers | tug_ist_diagnosis_repair

Package Summary

This package includes board controller, vurtual board, board simulator. It originally controlles hardware diagnosis board which is responsible of controlling all connected hardware sensors to the robot system. Hardware diagnosis board can switch on/off the channels, and measure the current and voltage status on each channel.

Overview

Diagnosis board is micro-controller based hardware embedding a TCP/IP stack. It has low and high channels to connect low voltage and high voltage hardware sensor devices. It is responsible for the current measurements, the power monitoring and the power configuration of the individual channels. The board is connected with the outside over Ethernet and embeds a server with a proprietary protocol.

Nodes

diagnosis_board_controller

This is the controller of the board. It acts like a client and communicate with board on TCP. It connects with board via ip and port.

Published Topics

/board_measurments (tug_ist_diagnosis_msgs/DBoardMeasurments)

Parameters

~ip (string, default: "127.0.0.1") ~port (int, default: 5000)

virtual_diagnosis_board

This node provides functionality of virtual board just for testing purpose. In reality one needs real hardware diagnosis board for real time diagnosis. This node communicates with controller on TCP so it has no publisher and subscriber. It uses ip=127.0.0.1 and port=5000.

node_action_server

This is a node which is action server providing facility to start and stop the node(s).


2019-11-30 13:20