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24 — SOFTWARE
Please remember that in a multi-device configuration, each qbrobotics device connected to
your system must have a unique ID.
Details
To understand what is hiding under the hood, have a look at the C++ classes overview which sums up all
the main concepts of our ROS packages:
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.
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 [2] devices connected:
[ INFO] [1524044525.218696997]:
[ INFO] [1524044525.218736612]:
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
Figure 6. — qb SoftClaw ROS packages and classes overview
- device [1] connected through [/dev/ttyUSB0]
- device [2] connected through [/dev/ttyUSB1]
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