Description

This node is the interface between the hardware and the high level robot functions. This includes:

• control of the drive and DoF motors
• accessing and communicating sensor data
• the interface to the safety controls
• acquiring IMU date from the IMU on the system board

There are three micro controller boards in the robot:

• body board
• head board
• chest LED board

The mobile base driver communicate with these via two high speed UARTS, /dev/ttyS1 and /dev/ttyS2.

Body Board

This board controls the drive motors and the head pan motor. It also gathers input from these sensors: bump, wheel drop, battery power and dock IR receiver.
The status LED (on the power button) is controlled by this board. The system power is controlled by this board. Depth sensor reset is controlled by this board.

Head Board

This board controls the head tilt and eyelids motors. It also gathers data from the cap touch sensor.

Chest LED Board

This board controls the 15 LEDs in the chest board.

Dependencies

The firmware must be loaded on the two controller boards. The depth sensor needs to be operating and providing depth scans.

Subscribed Topics

/commands/chest_leds mobile_base_driver::ChestLeds
Controls the color of the chest LEDs

Published Topics

/mobile_base/imu

sensor_msgs::Imu Data from the IMU device (BNO055)

/mobile_base/safety_status

mobile_base_driver::SafetyStatus Safety status from sensors that prevent the robot from hurting itself.

/mobile_base/sensors

mobile_base_driver::Sensors Contains the current state of most of the sensors in the robot.

/mobile_base/touch

mobile_base_driver::Touch The cap touch sensor

/mobile_base/power

mobile_base_driver::Power The power state, ie., battery charge, dock status.

/mobile_base/stall

mobile_base_driver::Stall Motor stall state.

/mobile_base/telescope

mobile_base_driver::Telescope IR receivers that detect the dock, one in front and one in the back.

/mobile_base/rear_cliff

mobile_base_driver::CliffArray The cliff sensors in the back of the robot. These are only active if the at least one of the drive wheels is being commanded backwards.

/mobile_base/diagnostics

diagnostic_msgs::DiagnosticArray

Services

/mobile_base/debug_logger`See ROS logging documentation

/mobile_base/get_embedded_regs

mobile_base_driver::GetEmbeddedRegs Get the value of the specified register

/mobile_base/set_embedded_regs

mobile_base_driver::SetEmbeddedRegs Set the value of the specified register

/mobile_base/ir_filter`Unused

/mobile_base/safety_clear

mobile_base_driver::SafetyClear Clear the specified safety condition

/mobile_base/safety_control

mobile_base_driver::SafetyOverride Override the safety controller for the specified conditions

/mobile_base/pwr_btn_led

mobile_base_driver::PwrBtnLed Set the color of the power button LED

/mobile_base/depth_sensor_reset

std_srvs::Empty Holds the depth sensor in reset for 200ms

/mobile_base/arm_shutdown

std_srvs::Empty Start the shutdown process

/mobile_base/cancel_shutdown

std_srvs::Empty Cancel the shutdown process

/mobile_base/home_head_pan

std_srvs::Trigger Causes the pan motor to re-home to the homing sensor

/mobile_base/home_head_tilt

std_srvs::Trigger Causes the tilt motor to re-home to the homing sensor

/mobile_base/home_eyelids

std_srvs::Trigger Causes the eyelids motor to re-home to the homing sensor

Parameters

Parameters from /opt/gizmo/share/mobile_base_driver/config/p3.yaml

• mobile_base/uart1
  /dev/ttyS1, used to communicate with the body board

• mobile_base/uart2
  /dev/rrtS2, used to communicate with the head board and chest light

• mobile_base/timing/imu
  The polling rate for reading data from the IMU

Non-Adjustable Parameters

• mobile_base/imu_i2c_bus_no
• mobile_base/has_body
• mobile_base/joints/left_wheel/encoder_ticks_per_unit
• mobile_base/joints/left_wheel/direction
• mobile_base/joints/right_wheel/encoder_ticks_per_unit
• mobile_base/joints/right_wheel/direction
• mobile_base/joints/head_pan/encoder_ticks_per_unit
• mobile_base/joints/head_pan/neutral_ticks
• mobile_base/joints/head_pan/direction
• mobile_base/joints/head_tilt/encoder_ticks_per_unit
• mobile_base/joints/head_tilt/neutral_ticks
• mobile_base/joints/head_tilt/direction
• mobile_base/joints/eyelids/encoder_ticks_per_unit
• mobile_base/joints/eyelids/neutral_ticks
• mobile_base/joints/eyelids/direction

Parameters from /opt/gizmo/share/mobile_base_driver/config/iris_common.yaml

• mobile_base/timing/publish
  The ros topic publish rate

• mobile_base/timing/ros_control_rate
  The main control loop processing rate

• mobile_base/timing/error_check_rate
  The rate the control board are polled for errors

• mobile_base/timing/loop_check_rate_hz
  The rate the control boards are polled to check their loop run times

• mobile_base/timing/status_update_rate_hz
  The rate the power status is monitored to control the status LED on the power button

• mobile_base/queue_size
  Queue size used for ROS publishers

Launch File

mobile_base.launch