107-systems/l3xz_head_ctrl

Head controller for the L3X-Z electric/hydraulic hexapod robot.

💾 l3xz_head_ctrl

Head controller for the L3X-Z electric/hydraulic hexapod robot.

How-to-build

• Install gsl-lite

git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install Catch2

git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install fmt

git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install

• Install mp-units

git clone https://github.com/mpusz/mp-units && cd mp-units
git checkout v2.0.0
mkdir build && cd build
cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
make -j8
sudo make install

• Build with colcon

cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_head_ctrl
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_head_ctrl

How-to-run

colcon_ws$
. install/setup.bash
ros2 launch l3xz_head_ctrl head_ctrl.py

Interface Documentation

Subscribed Topics

Default name	Type	Description
/l3xz/cmd_vel_head	geometry_msgs/Twist
/l3xz/head/pan/angle/actual	std_msgs/Float32	Pan servo current angle / rad
/l3xz/head/tilt/angle/actual	std_msgs/Float32	Tilt servo current angle / rad

Published Topics

Default name	Type	Description
/l3xz/l3xz_head_ctrl/heartbeat	std_msgs/UInt64	Heartbeat signal containing the node uptime in seconds.
/l3xz/head/pan/mode/set	msg/Mode.msg	Pan servo operation mode (Position Control / Angular Velocity Control)
/l3xz/head/pan/angle/target	std_msgs/Float32	Pan servo target angle / rad
/l3xz/head/pan/angular_velocity/target	std_msgs/Float32	Pan servo target angular velocity / rad/sec
/l3xz/head/tilt/mode/set	msg/Mode.msg	Pan servo operation mode (Position Control / Angular Velocity Control)
/l3xz/head/tilt/angle/target	std_msgs/Float32	Tilt servo target angle / rad
/l3xz/head/tilt/angular_velocity/target	std_msgs/Float32	Tilt servo target angular velocity / rad/sec

Parameters

Name	Default	Description
pan_servo_initial_angle	180.0	Initial angle of the pan servo after startup / deg.
pan_servo_min_angle	170.0	Min. angle of then pan servo / deg.
pan_servo_max_angle	190.0	Max. angle of then pan servo / deg.
tilt_servo_initial_angle	90.0	Initial angle of the tilt servo after startup / deg.
tilt_servo_min_angle	80.0	Min. angle of then tilt servo / deg.
tilt_servo_max_angle	100.0	Min. angle of then tilt servo / deg.