takin_estop

Overview

takin_estop is a simple node that provide a service to toggle on and off a logical estop. The program listen for service call and then turn on or off the logical pin298 or the pin21 of the J1 header on the Jetson TX2.

The program use the library [https://github.com/MengHuanLee/jetsonTX2GPIO] to help the jetson talk to it's GPIO ports.

The program is listed as /takin_estop in the service list.

Requirements

You only need to have the takin package to be able to access this services. You should have catkin_make and source the workspace for that to work.

Execution

There exists a launch file for this service located inside the takin/takin_estop/launch folder.

To run the service simply launch the launch file.

roslaunch takin_estop estop.launch

Testing

To the if the service is started you can use the rosservice tool to call the service and see if there's a response. The command is this :

rosservice call /takin_estop

Troubleshooting

If you're having issue with this package there might be two cause.

1. The GPIO pins are having permissions issues. There's a script at this link [https://jkjung-avt.github.io/gpio-non-root/] where it explain how to change the permission to fix this issue. Then try to restart the node to see if it worked.

Also it is worth noting that there's a udev rules that configure the initial permission parameter on the GPIO pin 298. This file can be found in the gpio folder of this package. This file should be place inside the /etc/udev/rules.d/ folder.

2. The ROS node is not behaving correctly, so there's a number of thing you should try to fix this
   1. Did you compile and source properly?
   2. Are you able to see the services with rosservice list
   3. Restart?