fetch_driver_msgs

Summary

fetch_driver_msgs
Version:

0.6.1
Description:

Messages for the fetch_drivers package
Maintainers:
  • Michael Ferguson <mferguson AT fetchrobotics DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Michael Ferguson
  • Derek King
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

fetch_driver_msgs/RobotState
Field:

Primary message for a robot

#
# Primary message for a robot
#

Header header

bool ready
bool faulted
bool runstopped

BoardState[] boards
MotorState[] motors
JointState[] joints
power_msgs/BreakerState[] breakers
ChargerState charger
fetch_driver_msgs/ChargerState
Field:
  • state (uint8) –
  • error (uint8) –
  • charging_mode (uint8) –
  • limit_cause (uint8) –
  • balancing_mode (uint8) –
  • battery_voltage (float32) –
  • battery_half_voltage (float32) –
  • charger_voltage (float32) –
  • supply_voltage (float32) –
  • phase1_current (float32) –
  • phase2_current (float32) –
  • charger_temp (float32) –
  • battery_temp (float32) –
  • supply_connector_temp (float32) –
  • fan_speed (float32) –
  • battery_capacity (float32) –
  • battery_energy (float32) – 
uint8 state
uint8 error
# Charging mode is defined as:
#  0 - float charge (last 10%)
#  1 - charging
#  2 - not charging
uint8 charging_mode
uint8 limit_cause
uint8 balancing_mode

float32 battery_voltage
float32 battery_half_voltage
float32 charger_voltage
float32 supply_voltage

float32 phase1_current
float32 phase2_current

float32 charger_temp
float32 battery_temp
float32 supply_connector_temp

float32 fan_speed

float32 battery_capacity
float32 battery_energy
fetch_driver_msgs/BoardState
Field:
  • name (string) –
  • board_type (int32) –
  • board_revision (int16) –
  • software_revision (int16) –
  • boot_status (int8) –
  • board_flags (uint16) –
  • system_time (uint64) –
  • voltage (float32) –
  • temperature (float32) –
  • packets_sent (uint32) –
  • packets_recv (uint32) –
  • packets_bad (uint32) –
  • packets_back (uint32) – 
string name

int32 board_type
int16 board_revision
int16 software_revision

int8 boot_status
uint16 board_flags

uint64 system_time

float32 voltage
float32 temperature

uint32 packets_sent
uint32 packets_recv
uint32 packets_bad
uint32 packets_back
fetch_driver_msgs/GripperState
Field:

Primary message for a gripper

#
# Primary message for a gripper
#

Header header

bool ready
bool faulted

BoardState[] boards
MotorState[] motors
JointState[] joints
fetch_driver_msgs/MotorState
Field:
  • name (string) –
  • state (uint8) –
  • error (uint8) –
  • velocity (float32) –
  • effort (float32) –
  • position (float32) –
  • temperature (float32) –
  • motor_ratio (float32) –
  • motor_angle_offset (float32) –
  • motor_angle_offset_estimated (float32) –
  • joint_ratio (float32) –

TODO add motor state/error definitions

# TODO add motor state/error definitions

string name

uint8 state
uint8 error

float32 velocity
float32 effort
float32 position

float32 temperature

# TODO: velocity/position gains

float32 motor_ratio
float32 motor_angle_offset
float32 motor_angle_offset_estimated
float32 joint_ratio
fetch_driver_msgs/JointState
Field:
  • name (string) –
  • control_mode (uint8) –
  • desired_position (float32) –
  • desired_velocity (float32) –
  • desired_effort (float32) –
  • position (float32) –
  • velocity (float32) –
  • effort (float32) – 
string name

uint8 control_mode

float32 desired_position
float32 desired_velocity
float32 desired_effort

float32 position
float32 velocity
float32 effort

Action types

fetch_driver_msgs/DisableCharging
Field (Goal):
  • disable_duration (duration) –
Field (Result):
  • charging_disabled (bool) –

Disable charging for a specific amount of time

# Disable charging for a specific amount of time
duration disable_duration
---
# Returns true if charging was successfully disabled,
# false if we are unable to disable charging
bool charging_disabled
---
# No feedback