cabot_serial

cabot_serial

• python/cpp implementation to communicate with CaBot's microcontroller
  • cabot-arduino
    • Single microcontroller configuration
  • cabot-arduino-ace
    • Two microcontrollers configuration (Sensor + Handle)
  • cabot-arduino-di
    • Two microcontrollers configuration (Sensor + Handle)

Node

• cabot_serial_node.py
• cabot_serial_node (cpp implementation)

Services

• set_touch_speed_active_mode (std_srvs::srv::SetBool)

  • change touch speed active mode (default=true) and what /touch_speed_switched publishes

  Touch speed active mode	/touch=true	/touch=false	behavior
  true	touch_speed_max	0	CaBot can proceed when someone is holding handle
  false	0	touch_speed_max_inactive	CaBot can proceed when someone is not holding handle (used in summon mode - CaBot runs by itself)

Parameters

• touch_speed_max (float) - default=2.0
  • /touch_speed_switched value when the touch sensor is active
• touch_speed_max_inactive (float) - default=0.5
  • /touch_speed_switched value when the touch sensor is inactive
• port (string) - default=/dev/ttyCABOT
  • serial port
• baud (int) - default=119200
  • baud rate
• run_imu_calibration (bool) - default=false
  • see cabot-arduino
• calibration_params (int[22]) - default=None
  • see cabot-arduino
• touch_params (int[3]) - default=None
  • see cabot-arduino

Publishers

• /calibration (int[22]): only publishes values when run_imu_calibration is true
• /diagnostics (diagnostic_msgs/msg/DiagnosticArray): diagnostics
• /imu (sensor_msgs/msg/Imu): IMU data - 100Hz
• /pressure (sensor_msgs/msg/FluidPressure): Pressure data - 2Hz
• /pushed (std_msgs/msg/Int8): button status (bit0-4 represents each button) - 50Hz
• /pushed_1, /pushed_2, /pushed_3, /pushed_4, /pushed_5 (std_msg/msg/Bool): publishes each button status - 50Hz
• /temparature (sensor_msgs/msg/Temperature): Temperature data - 2Hz
• /touch (std_msgs/msg/Int16): 1 if touched else 0 - 50Hz
• /touch_raw (std_msgs/msg/Int16): touch sensor's raw value (for debug) - 50Hz
• /touch_speed_switched (float): speed control by handle - see above - 50Hz
• /wifi (std_msgs/msg/String): wifi scan string - depends on how often WiFi signal is scanned (only with ESP32 microcontroller)
• /servo_pos (std_msgs/msg/Int16): current position of directional indicator - 50Hz (only with cabot_handle_v3_node)

Subscribers

• /vibrator1 (std_msgs/msg/UInt8): front
• /vibrator2 (std_msgs/msg/UInt8): back (not used)
• /vibrator3 (std_msgs/msg/UInt8): left
• /vibrator4 (std_msgs/msg/UInt8): right
  • if you publish a value, it vibrates corresponding vibrator for value x 10 milliseconds (0 - 2550 milliseconds)
• /servo_target (std_msgs/msg/Int16): if you publish a value, it rotates directional indicator (value: -90 ~ +90, only with cabot_handle_v3_node)
• /servo_free (std_msgs/msg/Bool): true -> set free, false -> no operation (only with cabot_handle_v3_node)

Test

• launch cabot_serial_node

ros2 run cabot_serial cabot_serial_node --ros-args -p port:=<port>

• check if all diagnostic messages are OK (Serial Connection, IMU, Push Button, Touch sensor, Pressure, Temperature)

ros2 run rqt_runtime_monitor rqt_runtime_monitor

• check if the handle vibrates

ros2 topic pub -1 /vibrator1 std_msgs/msg/UInt8 "data: 10"
ros2 topic pub -1 /vibrator3 std_msgs/msg/UInt8 "data: 10"
ros2 topic pub -1 /vibrator4 std_msgs/msg/UInt8 "data: 10"

• check if the directional indicator rotates

ros2 topic pub -1 /servo_target std_msgs/msg/Int16 "data: 90"
ros2 topic pub -1 /servo_target std_msgs/msg/Int16 "data: -90"
ros2 topic pub -1 /servo_target std_msgs/msg/Int16 "data: 0"