Niryo Robot Hardware Interface

This package handles packages related to the robot’s hardware.

It launches hardware interface nodes, motors communication and driver.

Global overview of hardware stack packages organization.

Hardware interface Node

This node has been conceived to instantiate all the interfaces we need to have a fully functional robot.

Among those interfaces we have:

• Conveyor Interface
• Joints Interface
• Tools Interface
• Cpu Interface
• End Effector Interface (Ned2 only)
• Can Driver (Ned and One Only)
• Ttl Driver

It belongs to the ROS namespace: /niryo_robot_hardware_interface/.

Parameters

Hardware Interface’s Parameters

Name	Description
publish_hw_status_frequency	Publishes rate for hardware status. Default : ‘2.0’
publish_software_version_frequency	Publishes rate for software status. Default : ‘2.0’

Dependencies

• Tools Interface
• Joints Interface
• Conveyor Interface
• CPU Interface
• Niryo_robot_msgs

Services, Topics and Messages

Published topics

Hardware Interface’s Published Topics

Name	Message Type	Description
hardware_status	niryo_robot_msgs/HardwareStatus	Motors, bus, joints and CPU status
software_version	niryo_robot_msgs/SoftwareVersion	Software version of the Raspberry PI and every hardware components (motors, end effector, conveyors and tools)

Services

Hardware Interface Package Services

Name	Message Type	Description
launch_motors_report	Trigger	Starts motors report
reboot_motors	Trigger	Reboots motors
stop_motors_report	Trigger	Stops motors report