drivers_ax12

Description

This package provides an action server to control the AX-12A, and a service to write to registers.

Authors and versions

• v1.0 (A17) : @milesial
  • Action server with joint and wheel mode
• v1.1 (A17) : @milesial
  • Service to modify writeable registers.

Configuration

No configuration is required for this package.

Communication

Servers

Server name	Type	Function
/drivers/ax12	Action	A client can send a joint or a wheel command via this server. A wheel command will respond immediately while the joint command will wait until the motor is at a stop.
/drivers/ax12/set_param	Service	A client can set writeable registers for the different motors.

Clients and subscriptions

Server name	Type	Function
/drivers/port_finder/get_port	Service	The node uses this service to get the port on which the motors are connected.

Running the package

rosrun drivers_ax12 ax12_node

How it works

TODO