flir_ptu_ethernet

The flir_ptu_ethernet package, based on RComponent structure. Package for controlling the FLIR PTU using ROS.

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Dependencies

• robotnik_msgs 🔗

git clone https://github.com/RobotnikAutomation/robotnik_msgs/

• rcomponent 🔗

git clone https://github.com/RobotnikAutomation/rcomponent/

• robotnik_sensors 🔗

git clone https://github.com/RobotnikAutomation/robotnik_sensors/

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ROS

Parameters

• desired_freq (double, default: 10.0): The frequency of the node.

• ip_address (string, default: 192.168.0.180): The IP address of the device.

• max_pan_speed (double, default: 120.0): The pan speed limit.

• max_tilt_speed (double, default: 120.0): The tilt speed limit.

Subscribed Topics

• joint_pan_position_controller/command (std_msgs/Float64): Topic for send a new pan position goal to the device.

• joint_tilt_position_controller/command (std_msgs/Float64): Topic for send a new tilt position goal to the device.

• joint_pan_speed_controller/command (std_msgs/Float64): Topic for send a new pan velocity to the device.

• joint_tilt_speed_controller/command (std_msgs/Float64): Topic for send a new tilt velocity to the device.

Published Topics

• ~state (robotnik_msgs/State): Information of the current state of the node.

• ~data (std_msgs/String): Information of the current position of the device, in degrees.

• ~data_stamped (robotnik_msgs/StringStamped): Same as ~data topic, with a timestamp.

• joint_states (sensor_msgs/JointState): This topic publishes the joint states.

Bringup

roslaunch flir_ptu_ethernet flir_ptu_ethernet.launch ip_address:=192.168.0.180