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Installation

Ubuntu: We are only supporting the phidgets_ros package on Ubuntu. This package should just work with phidgets_py_api and foote-ros-pkg/phidgets/phidgetspp_c_api nodes.

MacOSX: You must do the following:

1. Download and install the Mac version of the Phidgets, Inc. driver library:

Mac OS X, Phidget 21 Installer http://www.phidgets.com/drivers.php

2. Download and install Phidgets, Inc. python bindings http://www.phidgets.com/downloads/libraries/PhidgetsPython_2.1.6.20100129.zip

3. Make sure the python bindings are on your PYTHONPATH.

4. Comment out the dependency on phidgets_py_api in phidgets_ros/manifest.xml. Execute rosmake and the Phidgets code should work on your Mac.

Accelerometer ROS API

accelerometer.py node

This node is a wrapper around the Accelerometer class provided by Phidgets Inc. This node can be started with or without the accelerometer hardware plugged in. It publishes AccelerometerEvents when the accelerometer is attached, and it stops publishing when the accelerometer is detached. The node can remaining running throughout multiple accelerometer hardware connects/disconnects.

Published Topics

accelerometer/<device_serial_number OR user_defined_name> (phidgets_ros/AccelerometerEvent)

Parameters

Launch Parameters
These parameters are used to specify the user-defined-name, serial_number, and sensitivity for the Accelerometer hardware. name (str, default: '') serial_number (int, default: -1) sensitivity (float, default: 0.0) x_axis_id (int, default: 0) y_axis_id (int, default: 1) z_axis_id (int, default: 2)

RFID ROS API

rfid.py node

This node is a wrapper around the RFID class provided by Phidgets Inc. This node can be started with or without the rfid hardware plugged in. It publishes RFIDEvents when the rfid is attached, and it stops publishing when the rfid is detached. The node can remaining running throughout multiple rfid hardware connects/disconnects.

Published Topics

rfid/<device_serial_number OR user_defined_name> (phidgets_ros/RFIDEvent)

Parameters

Launch Parameters
These parameters are used to specify the user-defined-name, serial_number, and sensitivity for the RFID hardware. name (str, default: '') serial_number (int, default: -1)

InterfaceKit ROS API

interface_kit.py node

This node is a wrapper around the InterfaceKit class provided by Phidgets Inc. This node can be started with or without the InterfaceKit hardware plugged in. It publishes Float64Stamped messages when the InterfaceKit is attached, and it stops publishing when the InterfaceKit is detached. The node can remaining running throughout multiple InterfaceKit hardware connects/disconnects.

Published Topics

interface_kit/<device_serial_number OR user_defined_name>/sensor/<port_number> (phidgets_ros/Float64Stamped)

Parameters

Launch Parameters
These parameters are used to specify the user-defined-name, serial_number, and sensitivity for the InterfaceKit hardware. name (str, default: '') serial_number (int, default: -1)

2017-09-16 13:20