Only released in EOL distros:
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_hwboard
- Author: Eduard Herkel
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_electric)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_hwboard
- Author: Eduard Herkel
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_fuerte)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_cam3d_throttle | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_hwboard
- Author: Eduard Herkel
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: groovy)
cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
cob_hwboard
- Maintainer status: developed
- Maintainer: Eduard Herkel <uhr-eh AT ipa.fhg DOT de>
- Author: Eduard Herkel
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
Hardware Requirements
To use this package the care-o-bot has to be equiped with a hardware monitor board.
ROS API
The cob_hwboard package can be used to monitor certain voltages, currents and temperatures inside the robot.
cob_hwboard
The cob_hwboard node directly recieves measured values from the hardware and publishes them on the diagnostics topic.Published Topics
/diagnostics (diagnostics_msgs/DiagnosticArray)- Diagnostic information about hwboard including voltage, current and temperature values.
Parameters
devicestring (string, default: Required)- Device address of hwbaord, e.g. /dev/ttyHwBoard
- ID of temperature sensor located in the head (hexadecimal value).
- ID of temperature sensor located on the eye (hexadecimal value).
- ID of temperature sensor located on the torso module (hexadecimal value).
- ID of temperature sensor located in the torso (hexadecimal value).
- ID of temperature sensor located on the pc (hexadecimal value).
- ID of temperature sensor located on the engine (hexadecimal value).
Usage/Examples
For starting only the hwboard use
roslaunch cob_bringup hwboard.launch
For including the hwboard in your overall launch file use
<include file="$(find cob_bringup)/components/hwboard.launch" />
All hardware configuration is done by using a yaml-file stored in the cob_hardware_config package. The file which contains all necessary parameters is located in "cob_hardware_config/cob3-3/config/hwboard.yaml" and should be similar to this
devicestring: /dev/ttyHwBoard head_sensor: 0x103AEE7A eye_sensor: 0x1089D07A torso_module_sensor: 0x102BA47D torso_sensor: 0x10E4967D pc_sensor: 0x1082E17B engine_sensor: 0x10FADC7A
