Maxon EPOS Package

This is a ROS package for Maxon motor & EPOS driver.

Support Status

This package is WIP now.
v1.0.0 supports multiple EPOS device.

How to use

Install Maxon Linux driver

Firstly you must install maxon official linux driver.
For detail, please look at this official pdf

How to build

Then you have to download this package into your ROS workspace.

$ cd ~/catkin_ws/src
$ git clone https://github.com/iwata-lab/maxon_epos_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

How to use nodes

Run node

You can run nodes by console.
maxon_bringup node reads params from ROS parameter server.

$ rosrun maxon_epos_driver maxon_bringup

Otherwise, you can refer maxon_epos_example package's launch file.

Topics

• ~/<motor_name>/get_state (msg: maxon_epos_msgs/MotorState)

  This topic keep publishing motor current state.

• ~/<motor_name>/set_state (msg: maxon_epos_msgs/MotorState)

  When you send the goal to epos, use this topic.

• ~/get_all_state (msg: maxon_epos_msgs/MotorStates)

  This topic keep publishing all motors current states.

• ~/set_all_state (msg: maxon_epos_msgs/MotorStates)

  When you send the goals to all epos motors, use this topic.

Params

see maxon_epos_example/config/example.yaml

Example

see maxon_epos_example/launch/example_maxon_epos.launch