Tunnel ROS Interface

Library Information

Name

Tunnel ROS Interface

Version

1.0.0

License

BSD

URL

https://github.com/janelia-ros/tunnel_ros

Author

Peter Polidoro

Email

peter@polidoro.io

Description

This is the ROS tunnel interface.

Published Topics

• `/tunnel_state` (`smart_cage_msgs/TunnelState`) - A joint state message containing the current state of all joints.

Subscribed Topics

• `/tunnel_joint_target` (`sensor_msgs/JointState`) - Set joint state targets.

Parameters

• `serial` (int) - The serial number of the phidgets motor to connect to. If -1 (the default), connects to any motor phidget that can be found.

Command Line Examples

ros2 launch tunnel tunnel.launch.py
ros2 topic echo /tunnel_state
ros2 topic pub -1 /tunnel_joint_target sensor_msgs/JointState "{name: [right,left], position: [1000,1000]}"