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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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The EPS subsystem is responsible for enabling and disabling power to payloads being carried by the astrobee. There are four payload bays – two on the top side and two on the underside of the robot.
Payload power is configured by a service call to the topic hw/eps/configure_payload_power
, which is optionally prefixed by the name space for the robot on which the EPS is being run. This service call takes the form shown in ff_hw_msgs_ConfigurePayloadPower. For example, assuming the robot is running on name space /
, to turn power on to the payload with index 0, type the following on the command line:
rosservice call /hw/eps/configure_payload_power { payload: 0, state: 1 }
If the flight software stack is not running, the eps_tool
can be used as a debugging interface to configure power to the payload. To do this, first run the tool in the following way:
rosrun eps_driver eps_tool
Then, select option 12 and follow the instructions.