This driver provides a means of controlling an Imenco Pan and Tilt device using standard ROS2 messages.
@note This package currently only implements UDP communications through a UDP-serial converter like a MOXA. Direct serial communication is not yet implemented.
@warning this Package is currently in pre-release and is subject to interface and API changes at any time untill version 1.0.0
This package is currently only available through source build.
Change to your workspace directory
cd <your_workspace>Clone the repo
git clone https://github.com/SeawardScience/imenco_pt.git srcget dependencies and build
rosdep install --from-paths src -y --ignore-src
colcon buildTo talk to the system over UDP you can use the following launch command
ros2 launch imenco_pt imenco_pt_udp.launch.xml port:=40181 ip:10.0.0.31replacing the port and IP with your topics. This will get you talking to the unit with the default configuration. To configure it further take a look at the parameters below and create your own launch file
This node only subscribes to one topic joy_console/joy for joystick input. The topic can be changed by using the joy_topic parameter
/imenco_pt:
ros__parameters:
dst_ip: 10.0.0.31 # the IP address of the pan and tilt module (for communicaton over a MOXA)
port: 4016 # the port to send messages to (if using a MOXA)
from_addr: 1 # the value to fill the "from" address field in the packet header
to_addr: 3 # the value to fill the "to" address field in the packet header
joy_topic: joy_console/joy # the joystick topic you want to control the P/T with
max_joy_age: 0.5 # how old can a joystick messsage be before we center it
pan_axis: 1 # the joystick axis you want for panning
pan_gain: -0.1 # a multiplier for the pan axis negative value to invert axis
tilt_axis: 2 # the joystick axis you want for tilting
tilt_gain: 0.1 # a multiplier for the tilt axis negative value to invert axissThis project was developed by Kristopher Krasnosky of Seaward Science with funding from Pelagic Research Service