{"id":21103100,"url":"https://github.com/robotnikautomation/robotnik_base_hw","last_synced_at":"2025-05-16T18:35:05.135Z","repository":{"id":55043143,"uuid":"99318305","full_name":"RobotnikAutomation/robotnik_base_hw","owner":"RobotnikAutomation","description":"ROS controller based on ros_control architecture ","archived":false,"fork":false,"pushed_at":"2024-05-17T10:42:51.000Z","size":7288,"stargazers_count":5,"open_issues_count":7,"forks_count":7,"subscribers_count":8,"default_branch":"melodic-devel","last_synced_at":"2024-05-18T07:37:26.433Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobotnikAutomation.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-08-04T07:50:40.000Z","updated_at":"2024-05-17T10:42:54.000Z","dependencies_parsed_at":"2022-08-14T10:00:26.327Z","dependency_job_id":null,"html_url":"https://github.com/RobotnikAutomation/robotnik_base_hw","commit_stats":null,"previous_names":[],"tags_count":24,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_base_hw","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_base_hw/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_base_hw/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_base_hw/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/robotnik_base_hw/tar.gz/refs/heads/melodic-devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":225444584,"owners_count":17475354,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-19T23:57:41.740Z","updated_at":"2024-11-19T23:57:42.376Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ROBOTNIK BASE HW\n\nThis package is a ROS RobotHW component based on ros_control architecture, compatible with most of the Robotnik's motor hardware.\n\n---\n\n## Dependencies\n\n- robotnik_base_hw_lib [🔗](https://github.com/RobotnikAutomation/robotnik_base_hw_lib/)\n\n```bash\nsudo dpkg -i lib/ros-kinetic-robotnik-base-hw-lib_X.Y.Z-0xenial_amd64.deb\n```\n\n- robotnik_msgs [🔗](https://github.com/RobotnikAutomation/robotnik_msgs/)\n\n```bash\ngit clone https://github.com/RobotnikAutomation/robotnik_msgs/\n```\n\n- peak-linux-driver\n  * Recomended version: [8.6.0](https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.6.0.tar.gz)\n\n---\n\n## ROS\n\n### Params\n\n-  **battery_voltage_offset**: Offset aplied to the voltage getted by MotorDrive to correct the error (default: 0)\n\n-  **base_hw_limits**: Joint limits, like max acceleration or max velocity (default: robotnik_base_hw/config/robotnik_base_hw_limits.yaml)\n\n-  **base_hw_config**: Global configuration about the hardware of the robot (default: find robotnik_base_hw/config/robotnik_base_hw.yaml)\n\nRobot is able to auto recover it's hardware in case of malfunctioning. This is controlled by two parameters:\n\n-  **auto_recovery**: If true, tries to auto recover from fatal errors in hw, mostly after pressing e-stop. Must have a recovery_period set (default: true)\n\n-  **recovery_period**: Period in sec between recovery attempts. If 0, auto_recovery will not work (default: 10)\n\n### Topics\n\n#### Publications\n\n- **state**: Publishes an overview of the state of the node.\n  - type: robotnik_msgs/State\n\n- **status**: Publishes an overview of the status of the motors.\n  - type: robotnik_msgs/RobotnikMotorsStatus\n\n- **voltage**: Publishes the voltage getted by MotorDrive (with an applied offset).\n  - type: std_msgs/Float32\n\n- **emergency_stop**: True when the emergency button has been presed (or an error caused the stop of the robot).\n  - type: std_msgs/Bool\n\n- **io**: Publishes a list with the state of all inputs and outputs.\n  - type: robotnik_msgs/inputs_outputs\n\n#### Services\n\n- **set_digital_output**: Used to set the state of the digital outputs.\n  - type: robotnik_msgs/set_digital_output\n\n- **send_to_home**: Used to set the motor position to 0.\n  - type: std_srvs/Trigger\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_base_hw","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Frobotnik_base_hw","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_base_hw/lists"}