husky_msgs

Summary

husky_msgs
Version:

0.2.7
Description:

Messages for Clearpath Husky
Maintainers:
  • Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

husky_msgs/HuskyStatus
Field:
  • header (std_msgs/Header) –
  • uptime (uint32) –
  • ros_control_loop_freq (float64) –
  • mcu_and_user_port_current (float64) –
  • left_driver_current (float64) –
  • right_driver_current (float64) –
  • battery_voltage (float64) –
  • left_driver_voltage (float64) –
  • right_driver_voltage (float64) –
  • left_driver_temp (float64) –
  • right_driver_temp (float64) –
  • left_motor_temp (float64) –
  • right_motor_temp (float64) –
  • capacity_estimate (uint16) –
  • charge_estimate (float64) –
  • timeout (bool) –
  • lockout (bool) –
  • e_stop (bool) –
  • ros_pause (bool) –
  • no_battery (bool) –
  • current_limit (bool) – 
Header header

# MCU Uptime, in ms
uint32 uptime

# ROS Control loop frequency (PC-side)
float64 ros_control_loop_freq

# Current draw of platform components, in amps
float64 mcu_and_user_port_current
float64 left_driver_current
float64 right_driver_current

# Voltage of platform components, in volts
float64 battery_voltage
float64 left_driver_voltage
float64 right_driver_voltage

# Component temperatures, in C
float64 left_driver_temp
float64 right_driver_temp
float64 left_motor_temp
float64 right_motor_temp

# Battery capacity (Wh) and charge (%) estimate
uint16 capacity_estimate
float64 charge_estimate

# Husky error/stop conditions
bool timeout
bool lockout
bool e_stop
bool ros_pause
bool no_battery
bool current_limit