infrastructure-raspi Template

Overview

Contains branches for each apparatus that includes the hardware source code, a ROS node for controlling the apparatus within the infrastructure system, and urdf as well as STL files for visualizing the apparatus (if applicable).

The main branch contains a template of how to set up a branch for an apparatus (see template_controller.py). The apparatus folder should contain all of the hardware source code.

infrastructure_raspi Package Interface

Note: depending on how the controller node is set up for the apparatus, it may have additional publishers/subscribers. Be sure to look at the README.md in the specific apparatus branch.

Action Servers:

set_test_parameters
- Action server that the Set Test Parameters parameter action client sends a goal to.
- Used to signal start of a trial. Runs any hardware code necessary for getting the apparatus ready for a trial. Sends result when hardware code has either finished executing or failed.
reset_hardware
- Action server that the Reset stage action client sends a goal to.
- Used to signal end of a trial. Runs any hardware code necessary for resetting the apparatus after a trial. Sends result when hardware code has either finished executing or failed.

Services:

None

Publishers:

None

Subscribers:

None

Topics:

/set_test_parameters/cancel
/set_test_parameters/feedback
/set_test_parameters/goal
/set_test_parameters/result
/set_test_parameters/status
/reset_hardware/cancel
/reset_hardware/feedback
/reset_hardware/goal
/reset_hardware/result
/reset_hardware/status

OSUrobotics/infrastructure-raspi