ROS RobotHW component based on ros_control architecture.
This component is compatible with most of the Robotnik's motor hardware.
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robotnik_base_hw_lib
- Branch/version: tag kinetic-0.9.14 (binary in lib folder)
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robotnik_msgs
- Repository: https://github.com/RobotnikAutomation/robotnik_msgs
- Branch/version: tag kinetic-0.2.6
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peak-linux-driver
- Recomended version: 8.6.0 (https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.6.0.tar.gz)
- Run "sudo dpkg -i lib/ros-kinetic-robotnik-base-hw-lib_X.Y.Z-0xenial_amd64.deb"
Robot is able to auto recover it's hardware in case of malfunctioning. This is controlled by two parameters:
auto_recovery: true # if true, tries to recover from fatal errors in hw, mostly after pressing e-stop. must have a recovery_period set
recovery_period: 10 # period in sec between recovery attempts. if 0, auto_recovery will not work