mab_inteface

Bridge between ROS and the Teensy 4.1 mc-board

Published topics

Subscribed topics

• input of type atl_msgs/ServoInput : Inputs to the servos

Parameters

• teensy_ip of type string : IP address of the MAB
  • Read-only parameter
  • Default: 192.168.1.3

• send_port of type int64 : Port the UDP packets addressed to the MAB are sent to

  • Read-only parameter
  • Default: 1560

• receive_port of type int64 : Port on which the node is listening for UDP packets from the MAB

  • Read-only parameter
  • Default: 1561

• max_udp_receive_len of type int64 : Maximum expected size (in bytes) of the UDP packets from the MAB

  • Read-only parameter
  • Default: 1024

• publish_joy of type bool : Whether or not the joystick topic is being published

  • Default: true

Behavior

This node relays the UDP messages to and from the Teensy 4.1 mc-board onto the ROS network.

Input messages are forwarded to the Teensy only if their mode field is RUN (has an integer value of 1).