59 lines
1.5 KiB
YAML
59 lines
1.5 KiB
YAML
hal_io:
|
|
|
|
# I/O main loop publish rate in Hz
|
|
update_rate: 10
|
|
|
|
# Pin definitions
|
|
#
|
|
# output_pins: are read from a topic (default) or service
|
|
|
|
# HAL pins are named hal_io.<pin_name>
|
|
|
|
# valid keys for all pins:
|
|
# hal_type: BIT, FLOAT, S32, U32
|
|
|
|
publish_pins:
|
|
# publish_pins values from HAL pin published to ROS topic
|
|
# valid keys:
|
|
# hal_dir: IN (default), IO
|
|
# pub_topic: (any valid ROS topic name, default /hal_io/<pin_name>)
|
|
digital_in_1:
|
|
hal_type: BIT
|
|
digital_in_2:
|
|
hal_type: BIT
|
|
digital_in_3:
|
|
hal_type: BIT
|
|
digital_in_4:
|
|
hal_type: BIT
|
|
state_fb:
|
|
hal_type: S32
|
|
subscribe_pins:
|
|
# subscribe_pins values from ROS topic copied to HAL output pin
|
|
# valid keys:
|
|
# hal_dir: OUT (default), IO
|
|
# sub_topic: (any valid ROS topic name, default /hal_io/<pin_name>)
|
|
digital_out_1:
|
|
hal_type: BIT
|
|
digital_out_2:
|
|
hal_type: BIT
|
|
digital_out_3:
|
|
hal_type: BIT
|
|
digital_out_4:
|
|
hal_type: BIT
|
|
zero_all_joints:
|
|
hal_type: BIT
|
|
hal_dir: IO
|
|
state_cmd:
|
|
hal_type: U32
|
|
hal_dir: IO
|
|
reset:
|
|
hal_type: BIT
|
|
hal_dir: IO
|
|
# service_pins:
|
|
# service_pins values from ROS service copied to HAL output pin
|
|
# and published topic
|
|
# valid keys:
|
|
# hal_dir: OUT (default), IO
|
|
# service_name: (any valid ROS service name, default /hal_io/<pin_name>)
|
|
# pub_topic: (any valid ROS topic name, default /hal_io/<pin_name>)
|