search

hans-robot / elfin_robot

ROS meta-package for Elfin robot
http://wiki.ros.org/Robots/Elfin
BSD 3-Clause "New" or "Revised" License
102 stars 59 forks source link

RS485 api setup #36

Closed jwwood3 closed 1 year ago

jwwood3 commented 1 year ago

I have an Elfin5 arm and I'm trying to use the RS 485 communication ports on the end of arm connector, but I can't figure out how to program it to send and receive data in ros. The api documentation doesn't seem to have anything for this, though the readme mentions a separate v3 launch file that doesn't seem to exist anymore. I've been using the ros python libraries with ros noetic on an Ubuntu 20.04 virtual machine.

Neverforgetlove commented 1 year ago

If you use RS485, then use the standard branch noetic. You can control terminal IO through this service: elfin_ros_control/elfin/io_port1/write_do (elfin_robot_msgs/ElfinIODWrite) and you can find it in docs/API_description.md You can refer the img to control the DO output, it only have three DO ec5b9ecc460b186f78ac616b6781900

jwwood3 commented 1 year ago

Thank you for the quick response. This is the pinout I have for the end of arm connector. Screenshot_20230619_183255

It shows the three DO ports as pins 4,5, and 6. Then pins 7 and 8 are the RS 485 connections. Can I access those ports?

Neverforgetlove commented 1 year ago

You can only control the DO ports as pins 4,5, and 6, and do not support to control rs485