ROS messages package for Curio

curio_msgs contains ROS message types used in the curio packages.

Overview

This package includes the following message types.

curio_msgs/Channels

An array of radio control pulse-width modulated (PWM) values in units of microseconds.

Typically analog radio control pulses are published at 50Hz and each pulse lasts between 1000 and 2000 µs.

The channel PWM values may also be obtained by decoding a radio control serial signal such as SUMD which operates at a higher frequency (100 Hz).

curio_msgs/CurioIMU

A lightweight IMU message (no covariances) for communicating data from a multi-DOF IMU.

curio_msgs/CurioServoCommands

A time-stamped message containing two arrays of servo commands. The first array contains duty commands for the wheel servos. The second array contains position commands for the steering servos.

curio_msgs/CurioServoEncoders

A time-stamped message containing an array of curio_msgs/LX16AEncoder messages for the rover wheel servos.

curio_msgs/CurioServoPositions

A time-stamped message containing two arrays of un-filtered servo positions. The position is integer valued with each tick representing an increment of 360 / 1500 degrees. The first contains an array of wheel servo positions. The second contains an array of steering servo postions.

curio_msgs/CurioServoStates

A time-stamped message containing two arrays of curio_msgs/LX16AState messages. The first array is for the state of the wheel servos. The second array is for the state of the steering servos.

curio_msgs/LX16AEncoder

The state of a LX-16A encoder. The message contains the inputs and outputs of the LX16A encoder filter including the inferred encoder count and number of revolutions since reset.

curio_msgs/LX16AState

The state of a LX-16A servo. The message contains raw data read directly from the servo.

Installation

To install the package into a catkin workspace ~/curio_ws:

# Clone repository
cd ~/curio_ws/src
git clone https://github.com/srmainwaring/curio_msgs.git

# Configure and build
cd ~/curio_ws
catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build

Build Status

Develop Job Status

	Melodic
curio_msgs

Release Job Status

	Melodic
curio_msgs

License

This software is licensed under the BSD-3-Clause license found in the LICENSE file in the root directory of this source tree.