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Only released in EOL distros:  

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

ROS nodes for the ART autonomous vehicle servo devices.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

ROS nodes for the ART autonomous vehicle servo devices.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

ROS nodes for the ART autonomous vehicle servo devices.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

ROS nodes for the ART autonomous vehicle servo devices.

Device Driver Nodes

This package contains ROS drivers for all servo devices on the ART autonomous vehicle.

brake

Driver for ART brake servo mechanism.

Subscribed Topics

brake/cmd (art_msgs/BrakeCommand)

Published Topics

brake/state (art_msgs/BrakeState)

Parameters

~port (string, default: "/dev/brake") ~apply_on_exit (bool, default: false) ~training (bool, default: false) ~diagnostic (bool, default: false)

Examples

Test the ART brake driver using /dev/null, publishing simulated brake/state messages and accepting brake/cmd messages.

  rosrun art_servo brake

Run the brake driver with the real ART brake device. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo brake _port:=/dev/brake

ioadr

Driver for National Control Devices IOADR8x multipurpose I/O board.

Subscribed Topics

ioadr/cmd (art_msgs/IOadrCommand)

Published Topics

ioadr/state (art_msgs/IOadrState)

Parameters

~port (string, default: "/dev/ioadr8x") ~shifter (string, default: false)

Examples

Test the ART ioadr driver with /dev/null, publishing simulated ioadr/state messages and accepting ioadr/cmd messages.

  rosrun art_servo ioadr _port:=/dev/null

Run the ART ioadr driver connected to the I/O board on serial port /dev/ioadr, publishing ioadr/state messages and accepting ioadr/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo ioadr

shifter

Gear Shifter Driver, uses an instance of the ioadr driver communicating with a separate, dedicated NCD IOADR8x board connected to an Arens Controls shifter mechanism.

Subscribed Topics

shifter/cmd (art_msgs/Shifter)

Published Topics

shifter/state (art_msgs/Shifter)

Parameters

~port (string, default: "/dev/shifter") ~shifter (string, default: false)

Examples

Test the ART shifter driver with /dev/null, publishing simulated shifter/state messages and accepting shifter/cmd messages.

  rosrun art_servo ioadr shifter:=true _port:=/dev/null

Run the ART shifter driver connected to the I/O board on serial port /dev/shifter, publishing shifter/state messages and accepting shifter/cmd messages. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo ioadr shifter:=true

steering

Steering Servo Driver.

Subscribed Topics

steering/cmd (art_msgs/SteeringCommand)

Published Topics

steering/state (art_msgs/SteeringState)

Parameters

~port (string, default: "/dev/steering") ~training (bool, default: false) ~diagnostic (bool, default: false)

Examples

Test the ART steering driver using /dev/null, publishing simulated steering/state messages and accepting steering/cmd messages.

  rosrun art_servo steering _port:=/dev/null

Run the steering driver with the real ART steering controller. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo steering

throttle

Throttle Servo Driver.

Subscribed Topics

throttle/cmd (art_msgs/ThrottleCommand)

Published Topics

throttle/state (art_msgs/ThrottleState)

Parameters

~port (string, default: "/dev/throttle") ~training (bool, default: false) ~diagnostic (bool, default: false)

Examples

Test the ART throttle driver using /dev/null, publishing simulated throttle/state messages and accepting throttle/cmd messages.

  rosrun art_servo throttle _port:=/dev/null

Run the throttle driver with the real ART throttle controller. The port assignment gets saved in the ROS parameter server, persisting across future invocations until roscore stops.

  rosrun art_servo throttle

Utility Commands

shift

Simple tool to shift the ART vehicle transmission.

Subscribed Topics

shifter/state (art_msgs/Shifter)

Published Topics

shifter/cmd (art_msgs/Shifter)

Usage

  rosrun art_servo shift.py <gear>

    Where <gear> is one of: park, reverse, neutral, drive.  These
    names are not case-sensitive, and may be abbreviated to the first
    character.

Examples

Shift the transmission into Neutral.

  rosrun art_servo shift.py Neutral

Shift the transmission into Drive.

  rosrun art_servo shift.py drive

Shift the transmission into Reverse.

  rosrun art_servo shift.py r


2019-08-24 12:36