Add support for main brush, side brush, and vacuum motors

Question

Add support for main brush, side brush, and vacuum motors

jacobperron opened this issue 9 years ago · 8 comments

Add subscribers to listen for the three different motor commands.

Answer 1 · 2018-02-26T14:15:44.000Z

Is this still in the works?

Answer 2 · 2018-02-26T19:41:25.000Z

@zserlin1 I haven't had time to work on this. There was some work done on this a while ago (#36), perhaps I'll get to it one weekend. In the meantime, PRs always welcome :)

To make the API more clear for developers, I think using a custom message for controlling the motors would be good. A proposal for ca_msgs/MotorSetpoint:

    # For the main and side brush motors, provide a duty cycle in the range [-1, 1]
    # The range of acceptable values for the vacuum motor is [0, 1]
    float32 duty_cycle

Answer 3 · 2021-05-31T02:08:18.000Z

Hi. I was looking into adding a command topic for the vacuum motor. See nnarain@d221878

Currently implemented as a std_msgs/Float32. Would create_msgs/MotorSetPoint be preferable?

Answer 4 · 2021-06-04T01:34:58.000Z

I would prefer a create_msgs/MotorSetPoint since std_msgs is in theory deprecated

Answer 5 · 2021-06-04T02:30:24.000Z

Was not aware of that. Thanks!

Answer 6 · 2021-06-10T03:09:28.000Z

Yes, I am also in favor of a semantically meaning message (e.g. like create_msgs/MotorSetPoint).

Answer 7 · 2022-04-24T15:23:56.000Z

Would it also be possible to merge this into the foxy branch?

Answer 8 · 2022-04-26T02:10:46.000Z

Here's a port for Foxy: #97