infrastructure-raspi Template

Overview

Contains branches for each apparatus that includes the hardware source code, a ROS node for controlling the apparatus within the infrastructure system, and urdf as well as STL files for visualizing the apparatus (if applicable).

The main branch contains a template of how to set up a branch for an apparatus (see template_controller.py). The apparatus folder should contain all of the hardware source code.

infrastructure_raspi Package Interface

Note: depending on how the controller node is set up for the apparatus, it may have additional publishers/subscribers. Be sure to look at the README.md in the specific apparatus branch.

Action Servers:

• set_test_parameters
  • Action server that the Set Test Parameters parameter action client sends a goal to.
  • Used to signal start of a trial. Runs any hardware code necessary for getting the apparatus ready for a trial. Sends result when hardware code has either finished executing or failed.
• reset_hardware
  • Action server that the Reset stage action client sends a goal to.
  • Used to signal end of a trial. Runs any hardware code necessary for resetting the apparatus after a trial. Sends result when hardware code has either finished executing or failed.

Services:

• None

Publishers:

• None

Subscribers:

• None

Topics:

• /set_test_parameters/cancel
• /set_test_parameters/feedback
• /set_test_parameters/goal
• /set_test_parameters/result
• /set_test_parameters/status
• /reset_hardware/cancel
• /reset_hardware/feedback
• /reset_hardware/goal
• /reset_hardware/result
• /reset_hardware/status