hardware package

This package contains sensor reading and serial communication nodes, and the controller launch file.

How to Use

To use this package, please use following

To run any node, use the following command line:

# Check the nodes in this package (in your workspace/src folder)
source ../install/setup.bash 
ros2 pkg executables hardware

# run any node to chceck actuators or sensors:
ros2 run hardware contact_pub

# in a new command line, run this to see if the switches are functioning properlly
source ../install/setup.bash 
ros2 topic list
ros2 topic echo /hardware/ContactState

To launch the template controller, run the following line(make sure you have hardware setup and powered properly):

ros2 launch hardware planar_bipedal_hardware_launch.py

Package Structure

The following nodes are included in this package:

1. contact_sensor_node: for contact sensor reading
2. imu_node: for reading pelvis angle and angular velocity
3. roll_velocity_node: for reading x-direction velocity
4. serial_communication_joint_node: for serial communication with Arduino