ethercat_trigger_controllers

Summary

ethercat_trigger_controllers
Version:

1.10.13
Description:

Controllers to operate the digital output of the motor controller boards and the projector board. This package has not been reviewed and should be considered unstable.
Maintainers:
  • Devon Ash <dash AT clearpathrobotics DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Blaise Gassend
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <pr2_controller_interface plugin=”${prefix}/controller_plugins.xml”/>

Types

Message types

ethercat_trigger_controllers/MultiWaveformTransition
Field:
  • time (float64) –
  • value (uint32) –
  • topic (string) –

Used to specify a transition in the SetMultiWaveform service.

# Used to specify a transition in the SetMultiWaveform service.

float64 time # Transition time after start of period.
uint32 value # Value of the digital output after the transition time.
string topic # Topic to publish the transition timestamp to, or empty string if the transition should not be published.
ethercat_trigger_controllers/MultiWaveform
Field:

Transitions will occur at k * period + zero_offset + transitions[j].time, where j and k are integers.

# Transitions will occur at k * period + zero_offset + transitions[j].time, where j and
# k are integers.

float64 period # Period of the waveform in seconds.
float64 zero_offset # Time corresponding to a time of 0 in times[] in seconds
MultiWaveformTransition[] transitions # Transitions in the waveform. Transition times should be in increasing order, and be between 0 (inclusive) and period (exclusive)

Service types

ethercat_trigger_controllers/SetMultiWaveform
Field (Request):
 
Field (Response):
 
  • success (bool) –
  • status_message (string) – 
MultiWaveform waveform
---
bool success
string status_message
ethercat_trigger_controllers/SetWaveform
Field (Request):
 
  • rep_rate (float64) –
  • phase (float64) –
  • duty_cycle (float64) –
  • running (int32) –
  • active_low (int32) –
  • pulsed (int32) – 
float64 rep_rate
float64 phase
float64 duty_cycle
int32 running
int32 active_low
int32 pulsed
---