layered_hardware_epos

A ros_control layer implementation for maxon EPOS motor drivers. See layered_hardware to understand the layered scheme.

Plugins: layered_hardware_epos_plugins

layered_hardware_epos/EposActuatorLayer

• implements state & command interfaces for maxon EPOS motor drivers

  Layer parameters (should be defined under ~)

  device (string, default: 'EPOS4')

• device type of EPOS driver like 'EPOS', 'EPOS2', or 'EPOS4'.

_protocolstack (string, default: 'MAXON SERIAL V2')

• protocol stack type of EPOS driver like 'MAXON SERIAL V2', or 'MAXON RS232'.

interface (string, default: 'USB')

• interface type of EPOS driver like 'USB', 'RS232', or 'CANopen'.

port (string, default: 'USB0')

• port name of EPOS driver

baudrate (int, default: 1000000)

• baudrate of communication to EPOS drivers

timeout (double, default: 0.5)

• timeout of communication to EPOS drivers in seconds

actuators (struct, required)

• actuator parameters (see below)

Actuator parameters (should be defined under ~/actuators/)

id (int, required)

• id of the EPOS driver

_count_perrevolution (int, required)

• encoder count per revolution of the actuator, for conversion between position units

_torqueconstant (double, required)

• torque constant for conversion between current and torque in N*m/A

_operation_modemap (map<string, string>, required)

• map from ROS's controller names to EPOS driver's operation mode names
• possible operation mode names are 'current', 'disable', 'position', 'profile_position', 'profile_velocity', 'reset', & 'velocity'

Example

see layered_hardware_epos/launch/single_epos4_example.launch