QB Robotics qbmove Advanced Kit, User Manual

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28 aprile 2021
Figure 6-12: Package overview with C++ class details
6.5.2.2 Communication Handler
The Communication Handler Node has no parameters to be set, therefore it is always launched
like this:
roslaunch qb_device_driver communication_handler.launch
On start, it scans the serial communication resources connected to your system and shows a list
of the devices it has found. By default, it never scans again for new devices, apart from asking it
explicitly during the initialization of a control Node.
If the Communication Handler finds fewer (or even more) devices than
expected, check the device IDs to be sure that there are no devices that are
sharing the same ID.
This check can be easily achieved by connecting one device at a time and
starting the Communication Handler each time.
This is a simple example when starting the Communication Handler with two
qbrobotics® devices
connected on two distinct USB ports:
[ INFO] [1524044523.511369300]: [CommunicationHandler] handles [
/dev/ttyUSB1].
[ INFO] [1524044524.426984697]: [CommunicationHandler] handles [
/dev/ttyUSB0].
[ INFO] [1524044525.218613760]: [CommunicationHandler] has found