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Summary

The neo_relayboard_v2 package provides a means to communicate with the physical RelayBoardV2 installed in all mobile platforms.

The relayboard_v2_node publishes status information regarding the mobile platform such as battery voltage, charging current and emergency stop status. Moreover it provides services to control the charging process, the on-demand relays as well as the LCD display.

The drive motors are also connected to the RelayBoardV2 (except MPO-700), hence the drive control commands and drive signals are sent and received over the relayboard_v2_node as well.

Location: https://github.com/neobotix/neo_relayboard_v2

Nodes

relayboard_v2_node

Publishes:

  • /relayboard_v2/state
  • /relayboard_v2/battery_state
  • /relayboard_v2/emergency_stop_state
  • /drives/joint_states  (except MPO-700)
  • /ioboard/data  (with IOBoard only)

  • /usboard/measurements  (with USBoard only)

  • /usboard/sensor  (with USBoard only)

Subscribes:

  • /drives/joint_trajectory  (except MPO-700)

Services:

  • /relayboard_v2/set_LCD_msg <message>
    • Sets the first line on the LCD display for the next 30 seconds.
  • /relayboard_v2/set_relay <id (0 to 3)> <true/false>
    • Controls the 4 on-demand relays.
  • /relayboard_v2/start_charging
    • Starts charging process (when connected to automatic charging station)
  • /relayboard_v2/stop_charging
    • Stops the charging process (when connected to automatic charging station)
  • /ioboard/set_digital_output <id (0 to 15)> <true/false>
    • Controls the 16 digital outputs, when IOBoard is connected.

Parameters:

  • port  (serial bus device file, /dev/...)
  • request_rate  (node update frequency, defines publish frequency as well as frequency of drive commands sent to RelayBoardV2)
  • motor_delay  (time subtracted in seconds from /drives/joint_states timestamp, to account for transmission delays)
  • battery/
    • serial_number
    • location
    • design_capacity
    • chemistry
  • ioboard/
    • active  (true if IOBoard is connected)
  • usboard/
    • active  (true if USBoard is connected)
    • sensor1_active  (true if USBoard sensor1 is connected)
    • sensor2_active  (true if USBoard sensor2 is connected)
    • ...
  • log  (true if to enable raw binary logging of data stream to file, for debugging)
  • drive2/  (first motor)
    • motor_active  (true if connected)
    • homing_active  (true if omni drive)
    • joint_name  (ROS frame_id)
    • EncIncrPerRevMot
    • VelMeasFrqHz
    • GearRatio
    • BeltRatio
    • Sign  (direction of rotation)
    • VelMaxEncIncrS
    • VelPModeEncIncrS
    • AccIncrS2
    • DecIncrS2
    • Modulo
  • drive3/  (second motor)
    • ...
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