Kartech Linear Actuator
driver_name: kartech_linear_actuator
msgs_name: kartech_linear_actuator_msgs
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
Kartech CAN-controlled Linear Actuator
Published Topics
Message Type | Topic Name | Description |
|---|---|---|
| can_rx | All data published on this topic is intended to be sent to the sensor via a CAN interface. |
kartech_linear_actuator_msgs/PositionRpt | parsed_tx/rpt_position | A report of the current extension of the actuator arm. |
kartech_linear_actuator_msgs/EnhancedPositionRpt | parsed_tx/rpt_enhanced_position | An extended report of the extension of the actuator arm including motor current and several error statuses. |
kartech_linear_actuator_msgs/MotorCurrentRpt | parsed_tx/rpt_motor_current | A report of the current motor current. |
kartech_linear_actuator_msgs/SoftwareRevisionRpt | parsed_tx/rpt_software_revision | A report of the software revision currently running on the actuator. |
kartech_linear_actuator_msgs/UniqueDeviceIdRpt | parsed_tx/rpt_unique_device_id | A report of the unique 12-byte ID of the actuator. |
kartech_linear_actuator_msgs/ZeroingMessageRpt | parsed_tx/rpt_zeroing_message | A report of the voltages and errors on the two chips used for zeroing the motor. |
std_msgs/Float64 | as_tx/position | A report of the current extension of the actuator arm. |
Subscribed Topics
Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | All data published to this topic will be parsed by the driver. This should be connected to a CAN interface. |
| parsed_rx/cmd_position | Sets the extension of the linear actuator arm as well as enabling/disabling the motor and clutch. |
| parsed_rx/cmd_auto_zero_cal | Auotmatically zeroes the actuator arm position. |
| 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. |
| 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. |
| parsed_rx/cmd_configure_outputs_kp_ki | Configures the p and i terms of the motor's closed-loop control. |
| 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"]. |
| parsed_rx/cmd_configure_outputs_pwm_freq | Configures the PWM minimum and maximum duty cycle and frequency for output to the motor. |
| parsed_rx/cmd_reassign_report_id | Sets the user-defined report ID. |
| parsed_rx/cmd_reassign_command_id | Sets up to 4 user-defined command IDs. |
| parsed_rx/cmd_reset | Resets various settings on the actuator. |
| parsed_rx/cmd_priority_config | Assigns priorities to the CAN messages for various reports. |
| parsed_rx/req_report_poll | Returns up to 6 report messages at once. |
| parsed_rx/req_scheduled_report_rates | Sets up to 2 reports to be scheduled at an interval [ms]. |
| parsed_rx/req_software_version | Requests details of the current software version on the actuator. |
| 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. |
Parameters
~device_frame_id
The id of the frame-of-reference of the sensor.