Conveyor Interface

This package provides and interface Niryo’s Conveyors.
It allows you to control up to two Conveyors at the same time via the TTL bus.

Conveyor Interface node (Only development and debugging)

This ROS Node is used to:

  • Expose ROS interfaces to control or get states from the conveyor.

  • Initialize the Conveyor Interface.

Conveyor Interface core

It is instantiated by the Niryo Robot Hardware Interface node.

The node:

  • interfaces with the TTL driver.

  • initialize conveyor motors parameters.

  • handles the requests from services to set, control or remove the conveyors.

  • publishes conveyor states.

It belongs to the ROS namespace: /niryo_robot/conveyor.

Package Documentation

For more informations about ROS topics, services and parameters, check the Niryo robot hardware interface documentation.

ROS topics

Publishers

Topic Name

Type

Description

/niryo_robot/conveyor/feedback

conveyor_interface/ConveyorFeedbackArray

Publish the conveyor feedback

ROS Services

Service Name

Type

Description

/niryo_robot/conveyor/control_conveyor

conveyor_interface/ControlConveyor

Control the conveyor

/niryo_robot/conveyor/get_hardware_id

conveyor_interface/GetHardwareId

Get the ID of the conveyor on the TTL bus

/niryo_robot/conveyor/ping_and_set_conveyor

conveyor_interface/SetConveyor

Ping for a conveyor ID on the bus and set the conveyor if found

ROS Parameters

Parameter Name

Default value

Simulation value

Unit

Description

/niryo_robot_hardware_interface/conveyor/publish_frequency

2

N/A

Hz

Frequency at which the conveyor feedback is published

/niryo_robot_hardware_interface/conveyor/ttl/default_id

None

8

int

Default ID of the conveyor on the TTL bus before setup

/niryo_robot_hardware_interface/conveyor/ttl/direction

None

1

string

Direction of the conveyor (forward/backward)

/niryo_robot_hardware_interface/conveyor/ttl/pool_id_list

None

[9, 10]

string

List of available IDs on the TTL bus dedicated to conveyors

/niryo_robot_hardware_interface/conveyor/type

None

fakeStepper

string

Motor type of the conveyor

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/firmware

[‘0.0.1’]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/id

[8]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/max_position

[4096]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/min_position

[0]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/model_number

[2]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/position

[0]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/temperature

[54]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/velocity

[0]

N/A

N/A

N/A

/niryo_robot_hardware_interface/ttl_driver/fake_params/conveyors/voltage

[12300]

N/A

N/A

N/A

ROS Action

Namespace: None