epos_controller

ROS wrapper for the MAXON EPOS motor controllers

Note: The repository development was terminated. Due to this, some functionalities are lacking (restarting controllers, configuration via config file, etc.)

Building from Source

Dependencies

• [std_msgs] - ROS standard messages

Building

To build from source, clone the latest version from the repository into your workspace and compile the package using:

cd workspace/src
git clone https://github.com/pawelir/epos_controller.git
cd ../
rosdep update
rosdep install -i --from-paths src -y
colcon build --symlink-install

Note: ROS should be sourced before: source /opt/ros/<your-distro>/setup.bash

Usage

Launch the core functionality with:

roslaunch epos_controller epos_controller.launch

Launch files

• epos_controller.launch - Launches EPOS controller

Nodes

epos_controller

ROS wrapper for MAXON EPOS motor controller

Subscribed Topics

• /my_robot/epos_cmd_vel std_msgs/msg/Int32MultiArray

Service servers

• /epos_controller/stop_motors std_srvs/srv/Trigger - Stop motors

  rosservice call /epos_controller/stop_motors std_srvs/srv/Trigger "{}"

• /epos_controller/stop_motors std_srvs/srv/Trigger - Stop motors

  rosservice call /epos_controller/disable_motors std_srvs/srv/Trigger "{}"