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_msgs/Frame`	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.
`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.

Parameters

~device_frame_id
The id of the frame-of-reference of the sensor.

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