wg_hardware_test: ectools | life_test | mtrace_tools | pr2_camera_focus | pr2_component_descriptions | pr2_drive_life_test | pr2_hardware_test_monitor | pr2_transmission_check | qualification | roslaunch_caller | wg_invent_client | wgtest_status_indicator
Package Summary
Tools for viewing ethercat_hardware/MotorTrace messages from pr2_etherCAT
- Author: Derek
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/wg_hardware_test/trunk/mtrace_tools
Contents
Introduction
When pr2_etherCAT drivers detect certain types of motor problem, they will publish an ethercat_hardware/MotorTrace message. The message contains a trace of motor voltage, current, position, and speed from the second before the motor halted.
With tools from this stack its possible to look at these motor traces to get a better understanding of what was happening with the motor leading up to the error condition.
See the Tutorials for usage examples.