ROS Node for 3D coils

Attempt at adapting 3d coils backend into a ROS node in my spare time.

Usage: Remote Host

Follow these points on the host machine connected with the coils. This machine must clear the dependencies section.

1. Clone the main branch in your ros workspace.

2. Build messages and nodes.

catkin_make

3. Make sure the following are in your ~/.bashrc

source /opt/ros/noetic/setup.bash
source ~/ros_ws/devel/setup.bash
export ROS_IP=192.168.0.10
export ROS_MASTER_URI=http://192.168.0.10:11311

4. Run the nodes

roslaunch ros_coils middleware.launch

This spins up all the psus as a separate node each.

Usage: Local client

Follow these points on the local machine you want to push fields with. This machine does not need to clear the dependencies section.

1. Clone the RemoteMachine branch in your ros workspace.

2. Build messages.

catkin_make

3. Make sure the following are in your ~/.bashrc

source /opt/ros/noetic/setup.bash
source ~/ros_ws/devel/setup.bash
export ROS_IP=192.168.0.15
export ROS_MASTER_URI=http://192.168.0.10:11311

4. You should now be able to publish to the \field topic with no issues.

Notes

• PSU nodes have a Voltage/Current interface, with embedded calls to polarity setting.

• Each PSU node has a ROS Param "debug", to be used to omit all Serial calls to PSU.

• V/I limits are set at 70% of each supply's rated values. Those can be set as ROS Params. See 6PSU + Field example for usage.

• The middleware node is spun, with a Magnetic Field Interface, which is automatically translated to input msgs for each PSU node.

• The Field Node, takes ROS Params x/y/z/Num and x/y/z/Root.

  • x/y/z/Num is an integer (1 or 2) that specifies how many supplies handle the given axis.
  • x/y/z/Root is a string that specifies the address of the first supply.

Example

xNum = 2; xRoot = "/PSU0". The X component of the "/Field" topic will be bound to "/PSU0", "/PSU1".

See 6PSU + Field example for usage.

• The Z2 PSU is unique in that it lacks a Polarity interface, that is normal and handled internally.

• New values are published only if they differ from the currently outputted values. This is to prevent the supplies from being overwhelmed.

• Current Max frequency is unknown, but bound by X2 not getting overwhelmed by just existing. Needs investigation.

Dependencies

3d coils backend

Author

Vittorio Francescon