.. _neo-relayboard-v2: neo_relayboard_v2 ================= Summary ------- The neo_relayboard_v2 package provides a means to communicate with the physical RelayBoardV2 installed in all mobile platforms. The relayboard_v2_node publishes status information regarding the mobile platform such as battery voltage, charging current and emergency stop status. Moreover it provides services to control the charging process, the on-demand relays as well as the LCD display. The drive motors are also connected to the RelayBoardV2 (except MPO-700), hence the drive control commands and drive signals are sent and received over the relayboard_v2_node as well. Location: https://github.com/neobotix/neo_relayboard_v2 relayboard_v2_node ------------------ Publishes: * /relayboard_v2/state * /relayboard_v2/battery_state * /relayboard_v2/emergency_stop_state * /drives/joint_states (except MPO-700) * /ioboard/data (with IOBoard only) * /usboard/measurements (with USBoard only) * /usboard/sensor (with USBoard only) Subscribes: * /drives/joint_trajectory (except MPO-700) Services: * /relayboard_v2/set_LCD_msg Sets the first line on the LCD display for the next 30 seconds. * /relayboard_v2/set_relay Controls the 4 on-demand relays. * /relayboard_v2/start_charging Starts charging process (when connected to automatic charging station) * /relayboard_v2/stop_charging Stops the charging process (when connected to automatic charging station) * /ioboard/set_digital_output Controls the 16 digital outputs, when IOBoard is connected. Parameters: * port (serial bus device file, /dev/...) * request_rate (node update frequency, defines publish frequency as well as frequency of drive commands sent to * RelayBoardV2) * motor_delay (time subtracted in seconds from /drives/joint_states timestamp, to account for transmission delays) * trajectory_timeout (time after which motors will be stopped if no input received, in seconds) * battery/ serial_number location design_capacity chemistry * ioboard/ active (true if IOBoard is connected) * usboard/ active (true if USBoard is connected) sensor1_active (true if USBoard sensor1 is connected) sensor2_active (true if USBoard sensor2 is connected) ... * log (true if to enable raw binary logging of data stream to file, for debugging) * drive2/ (first motor) motor_active (true if connected) homing_active (true if omni drive) joint_name (ROS frame_id) EncIncrPerRevMot VelMeasFrqHz GearRatio BeltRatio Sign (direction of rotation) VelMaxEncIncrS VelPModeEncIncrS AccIncrS2 DecIncrS2 Modulo * drive3/ (second motor) ...