Electric motor

HRIM defines an electric motor as
A smart actuator that creates a circular movement and allows control of velocity and and direction.

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all electric motors will contain a topic referring to the circular movement.

HRIM component model: Electric motor
/hrim_actuator_electricmotor_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_actuator_electricmotor_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_actuator_electricmotor_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_actuator_electricmotor_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_actuator_electricmotor_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_actuator_electricmotor_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_actuator_electricmotor_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of, 3D model of the HRIM component.
/hrim_actuator_electricmotor_<instance_id>/specs hrim_actuator_electricmotor_msgs/msg/SpecsElectricMotor.msg topic (Sub) M Device features.
/hrim_actuator_electricmotor_<instance_id>/goal hrim_actuator_electricmotor_msgs/msg/GoalElectricMotor.msg topic (Sub) M Control the position, velocity or/and effort.
/hrim_actuator_electricmotor_<instance_id>/state hrim_actuator_electricmotor_msgs/msg/StateElectricMotor.msg topic (Sub) M Motor condition and the reason in case of error.
/hrim_actuator_electricmotor_<instance_id>/rc hrim_ui_rc_msgs/msg/RC.msg topic (Sub) O Conect to remote control.
/hrim_actuator_electricmotor_<instance_id>/temperature hrim_sensor_thermometer_msgs/msg/Temperature.msg topic (Sub) O Motor internal temperature. Also informs if there is temperature error. The integration of a temperature sensor is needed.
/hrim_actuator_electricmotor_<instance_id>/encoder hrim_sensor_encoder_msgs/msg/Encoder.msg topic (Sub) O Motor position, velocity or/and acceleration. The integration of an encoder is needed.
/hrim_actuator_electricmotor_<instance_id>/specs_encoder hrim_sensor_encoder_msgs/msg/SpecsEncoder.msg topic (Sub) O Encoder features. The integration of an encoder is needed.
/hrim_actuator_electricmotor_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Sub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
Parameters
min_temperature float ºC O Related to Temperature.msg
Minimum operating temperature.
NOTE: Mandatory if Temperature.msg is added.
max_temperature float ºC O Related to Temperature.msg
Maximum operating temperature.
NOTE: Mandatory if Temperature.msg is added.