About

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

Installation

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 src

get dependencies and build

rosdep install --from-paths src -y --ignore-src

colcon build

Getting Started

To 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:10.0.0.31

replacing 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

Topics

This node only subscribes to one topic joy_console/joy for joystick input. The topic can be changed by using the joy_topic parameter

Parameters

/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 axiss

Credits

This project was developed by Kristopher Krasnosky of Seaward Science with funding from Pelagic Research Service