rly_816

ROS package to control I/O of the usb device RLY816

Dependencies

• robotnik_msgs

Available params

• port: port used for the connection
• outputs: number of available outputs (normally between 2 and 8)

Launch the node

$ roslaunc rly_816 rly_816.launch

Topics

Status

To read the inputs/outputs status

/rly_816_node/status (type robotnik_msgs/inputs_outputs)

Services

Set the outputs value

/rly_816_node/set_digital_outputs (type robotnik_msgs/set_digital_output)