neo_msgs

Summary

neo_msgs
Version:

0.1.2
Description:

This package contains copies of former pr2_msgs (ported to ROS indigo) as well as new messages for neobotix robots.
Maintainers:
  • Neobotix <nieland AT neobotix DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Timo Hackel
  • Eric Berger and many others
  • Austin Hendrix
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

neo_msgs/LCDOutput
Field:
  • msg_line (string) – 
string msg_line 	#in mode 1 msg_lines size is limited to 20 chars
			#in mode 2 msg_lines size is limited to 60 chars
neo_msgs/USBoard
Field:
  • sensor[16] (uint8) –
  • analog[4] (int16) – 
uint8[16] sensor 	#sensor measurement
int16[4] analog 	#analogue input
neo_msgs/PowerState
Field:
  • header (std_msgs/Header) –
  • power_consumption (float64) –
  • time_remaining (duration) –
  • prediction_method (string) –
  • relative_capacity (int8) –
  • AC_present (int8) –

This message communicates the state of the PR2’s power system.

# This message communicates the state of the PR2's power system.
Header header
float64 power_consumption ## Watts
duration time_remaining ## estimated time to empty or full
string prediction_method ## how time_remaining is being calculated
int8  relative_capacity ## percent of capacity
int8  AC_present ## number of packs detecting AC power, > 0 means plugged in
neo_msgs/RadarBoard
Field:
  • velocity[3] (float64) –
  • state (int32) – 
float64[3] velocity
int32 state
neo_msgs/IOAnalogIn
Field:
  • input[8] (int16) – 
int16[8] input
neo_msgs/GyroBoard
Field:
  • acceleration[3] (float64) –
  • orientation (float64) – 
float64[3] acceleration #acceleration along the 3 axis
float64 orientation #angle around the 3rd axe
neo_msgs/IRSensors
Field:
  • measurement[4] (int32) – 
int32[4] measurement
neo_msgs/Keypad
Field:
  • button[4] (bool) – 
bool[4] button #4 button keypad
neo_msgs/IOOut
Field:
  • channel (int16) –
  • active (bool) – 
int16 channel
bool active
neo_msgs/EmergencyStopState
Constant:
  • EMFREE (int16):0 –
  • EMSTOP (int16):1 –
  • EMCONFIRMED (int16):2 –
Field:
  • emergency_button_stop (bool) –
  • scanner_stop (bool) –
  • emergency_state (int16) –

This message holds the emergency stop (EMStop) status of the robot. It detects wether an EMStop is caused by the safety laserscanner or the emergency stop buttons. Moreover, it gives signalizes wether the EMStop was confirmed (after Button press stop) and the system is free again.

Possible EMStop States

# This message holds the emergency stop (EMStop) status of the robot. It detects wether an EMStop is caused by the safety laserscanner or the emergency stop buttons. Moreover, it gives signalizes wether the EMStop was confirmed (after Button press stop) and the system is free again.

# Possible EMStop States
int16 EMFREE = 0 		# system operatign normal
int16 EMSTOP = 1 		# emergency stop is active (Button pressed; obstacle in safety field of scanner)
int16 EMCONFIRMED = 2 	# emergency stop was confirmed system is reinitializing and going back to normal

bool emergency_button_stop	# true = emergency stop signal is issued by button pressed
bool scanner_stop			# true = emergency stop signal is issued by scanner
int16 emergency_state		# state (including confimation by key-switch), values see above
neo_msgs/PowerBoardState
Constant:
  • STATE_NOPOWER (int8):0 –
  • STATE_STANDBY (int8):1 –
  • STATE_PUMPING (int8):2 –
  • STATE_ON (int8):3 –
  • STATE_ENABLED (int8):3 –
  • STATE_DISABLED (int8):4 –
  • MASTER_NOPOWER (int8):0 –
  • MASTER_STANDBY (int8):1 –
  • MASTER_ON (int8):2 –
  • MASTER_OFF (int8):3 –
  • MASTER_SHUTDOWN (int8):4 –
Field:
  • header (std_msgs/Header) –
  • name (string) –
  • serial_num (uint32) –
  • input_voltage (float64) –
  • master_state (int8) –
  • circuit_state[3] (int8) –
  • circuit_voltage[3] (float64) –
  • run_stop (bool) –
  • wireless_stop (bool) –

This message communicates the state of the PR2’s power board.

# This message communicates the state of the PR2's power board.
int8 STATE_NOPOWER=0
int8 STATE_STANDBY=1
int8 STATE_PUMPING=2
int8 STATE_ON=3
int8 STATE_ENABLED=3  # Preferred over STATE_ON, keeping STATE_ON for backcompat
int8 STATE_DISABLED=4

int8 MASTER_NOPOWER=0
int8 MASTER_STANDBY=1
int8 MASTER_ON=2
int8 MASTER_OFF=3
int8 MASTER_SHUTDOWN=4

Header header
string name # Name with serial number
uint32 serial_num # Serial number for this board's message
float64 input_voltage # Input voltage to power board

# Master States:
#  MASTER_NOPOWER, MASTER_STANDBY, MASTER_ON, MASTER_OFF, MASTER_SHUTDOWN 
int8 master_state  # The master state machine's state in the powerboard

# Circuit States:
#  STATE_NOPOWER, STATE_STANDBY, STATE_PUMPING, STATE_ON, STATE_DISABLED
int8[3] circuit_state # One of the above states
float64[3] circuit_voltage  # Output voltage of each circuit

# True if robot should be enabled
bool run_stop           #Note - if the wireless run-stop is hit, this will be unobservable
bool wireless_stop