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tuw_iwos_hardware_broker

Description

The main part of this package is the tuw_iwos_hardware_broker_node. This node takes commands messages as input and splits them. The command for each joint is then published for the according topic for each joint as an output. This is required for joint operation with ros_controllers and ros_control.

Subscriptions:

  • iwos_command_hardware

    Type: tuw_nav_msgs::JointsIWS

    Units

    • revolute: m/s
    • steering: rad

Publications:

  • /hardware_command/revolute_command_left

    Type: std_msgs::Float64

    Unit: m/s

  • /hardware_command/revolute_command_right

    Type: std_msgs::Float64

    Unit: m/s

  • /hardware_command/steering_command_left

    Type: std_msgs::Float64

    Unit: rad

  • /hardware_command/steering_command_right

    Type: std_msgs::Float64

    Unit: rad

Operation

In order to start the tuw_iwos_hardware_broker_node run the following command:

roslaunch tuw_iwos_hardware_broker tuw_iwos_hardware_broker_node

or

rosrun tuw_iwos_hardware_broker tuw_iwos_hardware_broker_node

Note that some remappings might be necessary depending on the topic names.