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90 changes: 45 additions & 45 deletions README.md
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Expand Up @@ -61,8 +61,8 @@ ros2 run fcat fcat_srvs

| Name | Description | Default |
| ---------------------- | ------------------------------------------------------------ | ------- |
| fastcat_config_path | The path of Fastcat input YAML bus configuration | "" |
| create_joint_state_pub | Enables publishing of `state/joint_states` topic useful for RVIZ2 or Moveit2! | true |
| `fastcat_config_path` | The path of Fastcat input YAML bus configuration | "" |
| `create_joint_state_pub` | Enables publishing of `state/joint_states` topic useful for RVIZ2 or Moveit2! | true |

## Topics

Expand All @@ -72,47 +72,47 @@ Device publishers are only created if at least one device is found on the user-s

| Type | Default Name | Description |
| ------------------------------- | ------------------------------- | ------------------------------------------------------ |
| fcat_msgs/ModuleState | `/fcat/state/module_state` | Module status of Fastcat Bus |
| fcat_msgs/ActuatorStates | `/fcat/state/actuators` | Variable-sized Array of ActuatorState telemetry |
| fcat_msgs/EgdStates | `/fcat/state/egds` | Variable-sized Array of EgdState Telemetry |
| fcat_msgs/El2124States | `/fcat/state/el2124s` | Variable-sized Array of El2124State Telemetry |
| fcat_msgs/El3208States | `/fcat/state/el3208s` | Variable-sized Array of El3208State Telemetry |
| fcat_msgs/El3602States | `/fcat/state/el3602s` | Variable-sized Array of El3602State Telemetry |
| fcat_msgs/JedStates | `/fcat/state/jeds` | Variable-sized Array of JedState Telemetry |
| fcat_msgs/CommanderStates | `/fcat/state/commanders` | Variable-sized Array of CommanderState Telemetry |
| fcat_msgs/ConditionalStates | `/fcat/state/conditionals` | Variable-sized Array of ConditionalState Telemetry |
| fcat_msgs/FaulterStates | `/fcat/state/faulters` | Variable-sized Array of FaulterState Telemetry |
| fcat_msgs/FilterStates | `/fcat/state/filters` | Variable-sized Array of FilterState Telemetry |
| fcat_msgs/FunctionStates | `/fcat/state/functions` | Variable-sized Array of FunctionState Telemetry |
| fcat_msgs/PidStates | `/fcat/state/pids` | Variable-sized Array of PidState Telemetry |
| fcat_msgs/SaturationStates | `/fcat/state/saturations` | Variable-sized Array of SaturationState Telemetry |
| fcat_msgs/SchmittTriggerStates | `/fcat/state/schmitt_triggers` | Variable-sized Array of SchmittTriggerState Telemetry |
| fcat_msgs/SignalGeneratorStates | `/fcat/state/signal_generators` | Variable-sized Array of SignalGeneratorState Telemetry |
| `fcat_msgs/ModuleState` | `/fcat/state/module_state` | Module status of Fastcat Bus |
| `fcat_msgs/ActuatorStates` | `/fcat/state/actuators` | Variable-sized Array of ActuatorState telemetry |
| `fcat_msgs/EgdStates` | `/fcat/state/egds` | Variable-sized Array of EgdState Telemetry |
| `fcat_msgs/El2124States` | `/fcat/state/el2124s` | Variable-sized Array of El2124State Telemetry |
| `fcat_msgs/El3208States` | `/fcat/state/el3208s` | Variable-sized Array of El3208State Telemetry |
| `fcat_msgs/El3602States` | `/fcat/state/el3602s` | Variable-sized Array of El3602State Telemetry |
| `fcat_msgs/JedStates` | `/fcat/state/jeds` | Variable-sized Array of JedState Telemetry |
| `fcat_msgs/CommanderStates` | `/fcat/state/commanders` | Variable-sized Array of CommanderState Telemetry |
| `fcat_msgs/ConditionalStates` | `/fcat/state/conditionals` | Variable-sized Array of ConditionalState Telemetry |
| `fcat_msgs/FaulterStates` | `/fcat/state/faulters` | Variable-sized Array of FaulterState Telemetry |
| `fcat_msgs/FilterStates` | `/fcat/state/filters` | Variable-sized Array of FilterState Telemetry |
| `fcat_msgs/FunctionStates` | `/fcat/state/functions` | Variable-sized Array of FunctionState Telemetry |
| `fcat_msgs/PidStates` | `/fcat/state/pids` | Variable-sized Array of PidState Telemetry |
| `fcat_msgs/SaturationStates` | `/fcat/state/saturations` | Variable-sized Array of SaturationState Telemetry |
| `fcat_msgs/SchmittTriggerStates` | `/fcat/state/schmitt_triggers` | Variable-sized Array of SchmittTriggerState Telemetry |
| `fcat_msgs/SignalGeneratorStates` | `/fcat/state/signal_generators` | Variable-sized Array of SignalGeneratorState Telemetry |

### Subscribers

Device subscribers are only created if at least one device is found on the user-specified Fastcat configuration file. Reset and Fault are the only guaranteed command topics.

| Type | Default Name | Description |
| -------------------------------------- | --------------------------------------- | ------------------------------------------------------------ |
| std_msgs/Empty | `fcat/cmd/reset` | Global reset for all devices on bus. Always available. |
| std_msgs/Empty | `fcat/cmd/fault` | Global fault for all devices on bus. Always available. |
| fcat_msgs/ActuatorCspCmd | `fcat/cmd/actuator_csp` | Cyclic Synchronous Position Command, should be sent every loop period |
| fcat_msgs/ActuatorCsvCmd | `fcat/cmd/actuator_csv` | Cyclic Synchronous Velocity Command, should be sent every loop period |
| fcat_msgs/ActuatorCstCmd | `fcat/cmd/actuator_cst` | Cyclic Synchronous Torque Command, should be sent every loop period |
| fcat_msgs/ActuatorProfPosCmd | `fcat/cmd/actuator_prof_pos` | Trap Profiled Position Command |
| fcat_msgs/ActuatorProfVelCmd | `fcat/cmd/actuator_prof_vel` | Trap Profiled Velocity Command |
| fcat_msgs/ActuatorProfTorqueCmd | `fcat/cmd/actuator_prof_torque` | Trap Profiled Torque Command |
| fcat_msgs/ActuatorSetOutputPositionCmd | `fcat/cmd/actuator_set_output_position` | Sets the Current Actuator Output Position |
| fcat_msgs/ActuatorCalibrate | `fcat/cmd/actuator_calibrate` | Performs Hardstop calibration |
| fcat_msgs/CommanderEnableCmd | `fcat/cmd/commander_enable` | Enables a commander for Fastcat internal functions |
| fcat_msgs/CommanderDisableCmd | `fcat/cmd/commander_disable` | Disables an active Commander |
| fcat_msgs/El2124WriteAllChannelsCmd | `fcat/cmd/el2124_write_all_channels` | Writes All Digital Outputs |
| fcat_msgs/El2124WriteChannelCmd | `fcat/cmd/el2124_write_channel` | Writes Single Digital output Channel |
| fcat_msgs/FaulterEnableCmd | `fcat/cmd/faulter_enable` | Enables or Disables Faulter device, typically used for monitoring testbed-specific fault conditions |
| fcat_msgs/FtsTareCmd | `fcat/cmd/fts_tare` | Tares a FTS |
| fcat_msgs/JedSetCmdValueCmd | `fcat/cmd/jed_set_cmd_value` | Sets the JED cmd value |
| fcat_msgs/PidActivateCmd | `fcat/cmd/pid_activate` | Activates a Fastcat internal PID Controller |
| `std_msgs/Empty` | `fcat/cmd/reset` | Global reset for all devices on bus. Always available. |
| `std_msgs/Empty` | `fcat/cmd/fault` | Global fault for all devices on bus. Always available. |
| `fcat_msgs/ActuatorCspCmd` | `fcat/cmd/actuator_csp` | Cyclic Synchronous Position Command, should be sent every loop period |
| `fcat_msgs/ActuatorCsvCmd` | `fcat/cmd/actuator_csv` | Cyclic Synchronous Velocity Command, should be sent every loop period |
| `fcat_msgs/ActuatorCstCmd` | `fcat/cmd/actuator_cst` | Cyclic Synchronous Torque Command, should be sent every loop period |
| `fcat_msgs/ActuatorProfPosCmd` | `fcat/cmd/actuator_prof_pos` | Trap Profiled Position Command |
| `fcat_msgs/ActuatorProfVelCmd` | `fcat/cmd/actuator_prof_vel` | Trap Profiled Velocity Command |
| `fcat_msgs/ActuatorProfTorqueCmd` | `fcat/cmd/actuator_prof_torque` | Trap Profiled Torque Command |
| `fcat_msgs/ActuatorSetOutputPositionCmd` | `fcat/cmd/actuator_set_output_position` | Sets the Current Actuator Output Position |
| `fcat_msgs/ActuatorCalibrate` | `fcat/cmd/actuator_calibrate` | Performs Hardstop calibration |
| `fcat_msgs/CommanderEnableCmd` | `fcat/cmd/commander_enable` | Enables a commander for Fastcat internal functions |
| `fcat_msgs/CommanderDisableCmd` | `fcat/cmd/commander_disable` | Disables an active Commander |
| `fcat_msgs/El2124WriteAllChannelsCmd` | `fcat/cmd/el2124_write_all_channels` | Writes All Digital Outputs |
| `fcat_msgs/El2124WriteChannelCmd` | `fcat/cmd/el2124_write_channel` | Writes Single Digital output Channel |
| `fcat_msgs/FaulterEnableCmd` | `fcat/cmd/faulter_enable` | Enables or Disables Faulter device, typically used for monitoring testbed-specific fault conditions |
| `fcat_msgs/FtsTareCmd` | `fcat/cmd/fts_tare` | Tares a FTS |
| `fcat_msgs/JedSetCmdValueCmd` | `fcat/cmd/jed_set_cmd_value` | Sets the JED cmd value |
| `fcat_msgs/PidActivateCmd` | `fcat/cmd/pid_activate` | Activates a Fastcat internal PID Controller |



Expand All @@ -122,20 +122,20 @@ Device subscribers are only created if at least one device is found on the user-

| Name | Description | Default |
| ------------------ | ------------------------------------------------------------ | ------- |
| loop_rate_hz | Loop rate of services | 100 |
| position_tolerance | Used to determine completion of `service/actuator_prof_pos` commands | 0.01 |
| velocity_tolerance | Used to determine completion of `service/actuator_prof_vel` commands | 0.01 |
| current_tolerance | Used to determine completion of `service/actuator_prof_vel` commands | 0.01 |
| `loop_rate_hz` | Loop rate of services | 100 |
| `position_tolerance` | Used to determine completion of `service/actuator_prof_pos` commands | 0.01 |
| `velocity_tolerance` | Used to determine completion of `service/actuator_prof_vel` commands | 0.01 |
| `current_tolerance` | Used to determine completion of `service/actuator_prof_vel` commands | 0.01 |

### Services

Services are only created if at least one device is found on the user-specified Fastcat configuration file. Currently, if the bus topology lacks `actuator` or `pid` devices, the `fcat_srvs` will not offer any services and need not be started at all.

| Type | Default Name | Description |
| ----------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ |
| fcat_msgs/srv/ActuatorCalibrateCmd | `fcat/service/actuator_calibrate` | Executes blocking service to perform Actuator hardstop calibration |
| fcat_msgs/srv/ActuatorProfPosCmd | `fcat/service/actuator_prof_pos` | Executes blocking service to execute a profile position command to target position |
| fcat_msgs/srv/ActuatorProfVelCmd | `root shell and run the fcat node from your user account.fcat/service/actuator_prof_vel` | Executes blocking service to execute a profiled velocity command to target velocity. Returns once target velocity is attained. |
| fcat_msgs/srv/ActuatorProfTorqueCmd | `fcat/service/actuator_prof_torque` | Executes blocking service to execute a profiled torque command to target current. Returns once target velocity is attained. |
| fcat_msgs/srv/PidActivateCmd | `fcat/service/pid_activate` | Executed blocking service to execute a PID controller. The will return once a timeout is reached or if the input error signal is within the `deadband` argument for `persistence_duration` seconds |
| `fcat_msgs/srv/ActuatorCalibrateCmd` | `fcat/service/actuator_calibrate` | Executes blocking service to perform Actuator hardstop calibration |
| `fcat_msgs/srv/ActuatorProfPosCmd` | `fcat/service/actuator_prof_pos` | Executes blocking service to execute a profile position command to target position |
| `fcat_msgs/srv/ActuatorProfVelCmd` | `root shell and run the fcat node from your user account.fcat/service/actuator_prof_vel` | Executes blocking service to execute a profiled velocity command to target velocity. Returns once target velocity is attained. |
| `fcat_msgs/srv/ActuatorProfTorqueCmd` | `fcat/service/actuator_prof_torque` | Executes blocking service to execute a profiled torque command to target current. Returns once target velocity is attained. |
| `fcat_msgs/srv/PidActivateCmd` | `fcat/service/pid_activate` | Executed blocking service to execute a PID controller. The will return once a timeout is reached or if the input error signal is within the `deadband` argument for `persistence_duration` seconds |