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Only released in EOL distros:   electric fuerte groovy

Nodes

amtec_node

The Amtec node interfaces with the Schunk (formerly Amtec) pan tilt unit. It provides services to control the motion of the unit, publishes status messages and publishes transforms.

Parameters

Motion Parameters

~<name>/pan_min_pos (double, default: -3.5)

• Minimum allowed pan position (in radians)

~<name>/pan_max_pos (double, default: 3.5)

• Maximum allowed pan position (in radians)

~<name>/pan_max_vel (double, default: 2.0)

• Maximum allowed pan velocity (in radians/sec)

~<name>/pan_max_acc (double, default: 5.0)

• Maximum allowed pan acceleration (in radians/sec/sec)

~<name>/pan_max_curr (double, default: 10.0)

• Maximum allowed pan current

~<name>/pan_c0 (integer, default: 12)

• c0 gain for pan axis

~<name>/pan_damp (integer, default: 4)

• Damping gain for pan axis

~<name>/pan_a0 (integer, default: 2)

• a0 gain for pan axis

~<name>/tilt_min_pos (double, default: -3.5)

• Minimum allowed tilt position (in radians)

~<name>/tilt_max_pos (double, default: 3.5)

• Maximum allowed tilt position (in radians)

~<name>/tilt_max_vel (double, default: 2.0)

• Maximum allowed tilt velocity (in radians/sec)

~<name>/tilt_max_acc (double, default: 5.0)

• Maximum allowed tilt acceleration (in radians/sec/sec)

~<name>/tilt_max_curr (double, default: 10.0)

• Maximum allowed tilt current

~<name>/tilt_c0 (integer, default: 18)

• c0 gain for tilt axis

~<name>/tilt_damp (integer, default: 3)

• Damping gain for tilt axis

~<name>/tilt_a0 (integer, default: 1)

• a0 gain for tilt axis

~<name>tilt_use_break (integer, default: 1)

• Use hardware break to hold tilt axis position

Unit ID Parameters

~<name>/pan_id (integer, default: 14)

• Id of pan axis

~<name>/tilt_id (integer, default: 13)

• Id of tilt axis

Frame Parameters

~<name>/parent_frame (string, default: "head_link")

• The frame id of the unit's parent frame

~<name>/amtec_frame (string, default: "amtec_link")

• The frame id for the unit itself

Connection Parameters

~<name>/port (string, default: "/dev/ttyUSB2")

• The device connected to the unit

~<name>/parity (string, default: "N")

• Parity of serial connection. Possible values are "N", "E" and "O"

~<name>/baud_rate (integer, default: 38400)

• Baud rate of serial connection

~<name>/stop_bits (integer, default: 1)

• stop bits

~<name>/hardware_flow_control (integer, default: 0)

• enable hardware flow control

~<name>/software_flow_control (integer, default: 0)

• enable software flow control

Published Topics

~<name>/pan_state (amtec/AmtecState)

• The pan state

~<name>/tilt_state (amtec/AmtecState)

• The tilt state

Services

~<name>/get_status (amtec/GetStatus)

• Get the current position and velocity of unit

~<name>/halt (amtec/Halt)

• Halt unit

~<name>/home (amtec/Home)

• Home unit

~<name>/set_position (amtec/SetPosition)

• Set desired position

~<name>/set_velocity (amtec/SetVelocity)

• Home unit

~<name>/target_acceleration (amtec/TargetAcceleration)

• Set desired acceleration to use when executing motion commands

~<name>/target_velocity (amtec/TargetVelocity)

• Set desired velocity to use when executing position commands

~<name>/sweep_pan (amtec/SweepPan)

• Begin a sinusoidal sweeping pattern of the pan axis

~<name>/sweep_tilt (amtec/SweepTilt)

• Begin a sinusoidal sweeping pattern of the tilt axis

sweep_amtec

Sweeps pan axis of amtec using trapezoidal motion profiles instead of the sinusoidal motion profiles provided by amtec_node directly. Uses the services provided by amtec_node.

Parameters

~<name>/pan_start (double, default: -0.6)

• Starting position of sweep pattern (in radians).

~<name>/pan_stop (double, default: 0.6)

• Ending position of sweep pattern (in radians)

~<name>/pan_velocity (double, default: 2.5)

• Maximum velocity to use in motion profile (in radians/sec)

~<name>/pan_acceleration (double, default: 4.0)

• Acceleration to use in motion profile (in radians/sec/sec)

test_amtec

A node that will attempt to establish a connection to an amtec unit, reset it, home it and then exit. the device and baud_rate should be specified on the command line. Uses libamtec directly, it doesn't go through amtec_node.