Maxon EPOS Package
This is a ROS package for Maxon motor & EPOS driver.
Support Status
This package is WIP now.
v1.0.0 supports multiple EPOS device.
How to use
Install Maxon Linux driver
Firstly you must install maxon official linux driver.
For detail, please look at this official pdf
How to build
Then you have to download this package into your ROS workspace.
$ cd ~/catkin_ws/src
$ git clone https://github.com/iwata-lab/maxon_epos_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
How to use nodes
Run node
You can run nodes by console.
maxon_bringup
node reads params from ROS parameter server.
$ rosrun maxon_epos_driver maxon_bringup
Otherwise, you can refer maxon_epos_example
package's launch file.
Topics
-
~/<motor_name>/get_state
(msg: maxon_epos_msgs/MotorState)This topic keep publishing motor current state.
-
~/<motor_name>/set_state
(msg: maxon_epos_msgs/MotorState)When you send the goal to epos, use this topic.
-
~/get_all_state
(msg: maxon_epos_msgs/MotorStates)This topic keep publishing all motors current states.
-
~/set_all_state
(msg: maxon_epos_msgs/MotorStates)When you send the goals to all epos motors, use this topic.
Params
see maxon_epos_example/config/example.yaml