ompugao/eposx_hardware

eposx_hardware

eposx_hardware is ...

• ROS interface for Maxon EPOS motor drivers
• forked from RIVeR-Lab/epos_hardware, with a lot of enhancements and refactors
• difference from the original package
  • supports all EPOS drivers (EPOS/EPOS2/EPOS4)
  • supports all phisycal interface to EPOS (USB/RS232/CANOpen)
  • supports online switching of EPOS control modes
  • supports reading status of EPOS's power supply
  • supports joint limit interface
  • uses the latest offical command library from Maxon in backend (as of Jun. 2018)
  • refactored codes including an useful C++ wrapper of backend C library

Node: epos_hardware_node

Usage

rosrun eposx_hardware epos_hardware_node [motor_name...]

• motor-specific parameters must be properly set

Parameters

• all parameters below are motor-specific and must be in the namespace ~motor_name

device (string, default: "EPOS4")

• type of device like "EPOS", "EPOS2", or "EPOS4"

protocol_stack (string, default: "MAXON SERIAL V2")

• type of protocol stack like "MAXON SERIAL V2", or "MAXON RS232"

interface (string, default: "USB")

• type of physical interface like "USB", "RS232", or "CANOpen"

port (string, default: "")

• path to physical port like "/dev/ttyUSB0"
• if empty string, all possible port will be scanned

node_id (int, default: 0)

• EPOS's node id
• if 0, all possible node indices will be tried

serial_number (string, default: "")

• EPOS's serial number in hex without "0x"
• if empty string, port and/or node_id will be used to search the device

baudrate (int, default: 0)

• baudrate of communication via physical interface
• if 0, keep current baudrate
• ignored if another device belonging to the interface is already initialized

timeout (int, default: 0)

• timeout of communication via physical interface in ms
• if 0, keep current timeout
• ignored if another device belonging to the interface is already initialized

clear_faults (bool, default: false)

• clear faults recorded in the device on startup

rw_ros_units (bool, default: false)

• use ROS standard units (rad, rad/s, Nm) in hardware interfaces or EPOS standard units (quad count of encoder pulse(qc), rpm, mNm)

detailed_diagnostic (bool, default: false)

• additionally read actual operation mode, device status, and fault info

remaining parameters wiil be described soon

Commandline tool: list_nodes

will be described soon

Commandline tool: get_state

will be described soon

Examples

• see eposx_hardware/launch