ROS2

ROS2 is the middleware/robotic-framework to control pib. This page describes the pip-specific decisions and configurations.

ROS2 nodes and topics

Here we describe the nodes and topics. This section is the result of PR-27: Define initial ROS2-nodes and topics for kinematic calibrationDone and

PR-94: Reduce the number of topics by adressing motors via namesDone

Cerebra:

Cerebra uses a single topic to communicate with the Rosbridge server:

/motor_settings

The message type of this topic is 'std_msgs/String'.

An example of a complete /motor_settings message:

{
  data:
    '[{"motor":"thumb_left_opposition"},
      {"value":-475},
      {"turnedOn": true},
      {"pule_widths_min":""},
      {"pule_widths_max":""},
      {"rotation_range_min":""},
      {"rotation_range_max":""},
      {"velocity":""},
      {"acceleration":""},
      {"deceleration":""},
      {"period":""}
    ]'
}

In the feld “motor“ is the identifier of a single motor and the “value“ feld contains the actual value of a single slider. The other parameters are needed when a user changed some settings of a motor in the settings dialog.