Only released in EOL distros:   indigo kinetic

Usage

From command line run:

rosrun muse_bldc_motor_drive muse_bldc_motor_drive

Now muse node publishes a list with Muse Drives that are visible on the network and is ready to listen to your commands.

Node runs in default frequencies: 1KHz for both feedback and control/state machine commands.

If you want to set another value for these frequencies, you can run:

rosrun muse_bldc_motor_drive muse_bldc_motor_drive <feedback_frequency(Hz)> <control_frequency(Hz)>

Note: There is no point in setting higher value for feedback frequency. However, you can decrease it, if you do not need it to be so high, or your network cannot handle such a high frequency.

Now you can create your own node, that publishes commands to muse node and subscribes to desirable topics.

Nodes

muse_bldc_motor_drive

Published Topics

muse/module_discovery (muse_bldc_motor_drive/module_list.msg)

• Provides a list with all active Muse Modules, that are visible through current network and the number of them. The list provides some information for each module: module name, module ip, module status.

<feedback_topic_name> (muse_bldc_motor_drive/feedback.msg)

• Provides the name of current Muse Module and also, feedback - current [A], speed [krpm], position [revs], bus voltage [V], temperature [C] - possible erros/faults, control mode and fsm state.

Subscribed Topics

muse/communication (muse_bldc_motor_drive/communication_cmd.msg)

• A command to open or close the topics needed for communication with a single Muse Module. You have to set the ip or name of desired Module and you choose the names of topics needed to send commands and get feedback from it. You can get Module's name or ip from muse/communication publisher and see if it's connected to the network.

<control_commands_topic_name> (muse_bldc_motor_drive/control_cmd.msg)

• An interface to send control commands to Muse Module. Commands provided:

  • SET_CONTROL_LIMITS

  • SET_CURRENT_GAINS

  • SET_SPEED_GAINS

  • SET_POSITION_GAINS

  • SET_CURRENT

  • SET_SPEED

  • SET_POSITION

<state_machine_commands_topic_name> (muse_bldc_motor_drive/state_machine_cmd.msg)

• An interface to send state machine commands to Muse Module. Commands provided:

  • CONNECT
    

  • DISCONNECT
    

  • STARTUP
    

  • SHUTDOWN
    

  • ENABLE_SERVO
    

  • DISABLE_SERVO
    

  • CONTROL_ON
    

  • CONTROL_OFF
    

  • QUICK_ENABLE
    

  • CALIBRATE_ELEC_ANGLE_OFFSET
    

  • CALIBRATE_START
    

  • SET_NAME
    

  • CLEAR_FAULTS
    

  • CLEAR_ERRORS

Parameters

control frequency(float64, default: 1000.0)

• This is the frequency that Muse Node can handle sent commands.

feedback frequency(float64, default: 1000.0)

• This is the frequency of published feedback from Muse Node.