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A ROS driver to command and configure the Kartech Linear Actuator. Provides all feedback data as topics and exposes all configuration parameters as topics.
Supported Hardware
- Hardware modelKartech CAN-controlled Linear Actuator
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_interface/CanFrame | can_rx | Any raw data published to this topic will be forwarded directly to the actuator. |
kartech_linear_actuator_msgs/PositionCmd | parsed_rx/cmd_position | Sets the extension of the linear actuator arm as well as enabling/disabling the motor and clutch. |
kartech_linear_actuator_msgs/AutoZeroCalCmd | parsed_rx/cmd_auto_zero_cal | Auotmatically zeroes the actuator arm position. |
kartech_linear_actuator_msgs/MotorOverCurrentConfigCmd | parsed_rx/cmd_motor_over_current_config | Sets the default current [mA] at which the motor will automatically turn off when exceeded for a period of time. |
kartech_linear_actuator_msgs/PositionReachErrorTimeConfigCmd | parsed_rx/cmd_position_reach_error_time_config | Sets the time [ms] for which the motor must stall at a given position before an error is reported. |
kartech_linear_actuator_msgs/ConfigureOutputsKpKiCmd | parsed_rx/cmd_configure_outputs_kp_ki | Configures the p and i terms of the motor's closed-loop control. |
kartech_linear_actuator_msgs/ConfigureOutputsKdFreqDeadbandCmd | parsed_rx/cmd_configure_outputs_kd_freq_deadband | Configures the d term of the motor's closed-loop control, the frequency [Hz] at which the control loop will run and the size of the deadband [0.001"]. |
kartech_linear_actuator_msgs/ConfigureOutputsPwmFreqCmd | parsed_rx/cmd_configure_outputs_pwm_freq | Configures the PWM minimum and maximum duty cycle and frequency for output to the motor. |
kartech_linear_actuator_msgs/ReassignReportIdCmd | parsed_rx/cmd_reassign_report_id | Sets the user-defined report ID. |
kartech_linear_actuator_msgs/ReassignCommandIdCmd | parsed_rx/cmd_reassign_command_id | Sets up to 4 user-defined command IDs. |
kartech_linear_actuator_msgs/ResetCmd | parsed_rx/cmd_reset | Resets various settings on the actuator. |
kartech_linear_actuator_msgs/PriorityConfigCmd | parsed_rx/cmd_priority_config | Assigns priorities to the CAN messages for various reports. |
kartech_linear_actuator_msgs/ReportPollReq | parsed_rx/req_report_poll | Returns up to 6 report messages at once. |
kartech_linear_actuator_msgs/ScheduledReportRatesReq | parsed_rx/req_scheduled_report_rates | Sets up to 2 reports to be scheduled at an interval [ms]. |
kartech_linear_actuator_msgs/SoftwareVersionReq | parsed_rx/req_software_version | Requests details of the current software version on the actuator. |
kartech_linear_actuator_msgs/ActuatorUniqueIdReq | parsed_rx/req_actuator_unique_id | Requests the actuator's 12-byte unique ID. |
| std_msgs/Float64 | as_rx/set_position | Sets the position of the actuator [m]. Enagages the clutch but leaves the motor off after set. |
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