Real-Time Robotics Framework - eeros_architecture:control_system:available_blocks

Baumer OM7 Distance Sensor

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T07:50:35+00:00

Baumer OM7 Distance Sensor The Baumer OM70 is a laser distance sensor, Baumer OM70. They come for various measurement ranges. They are connected through Ethernet and use a MODBUS protocol. You will have to build and install MODBUS first, see MODBUS. The block has a single output delivering the distance measurement.

CANopen Receive

Anonymous (anonymous@undisclosed.example.com) — 2024-05-30T15:37:02+00:00

CANopen Receive This block receives PDO packets over a CAN bus from a drive. The drives itself must be initialized by SDO transfers and brought into operational state where PDO transfer is possible. The control system must incorporate a block for sending and another one for receiving CAN messages, see

CANopen Send

Anonymous (anonymous@undisclosed.example.com) — 2024-05-30T15:13:53+00:00

CANopen Send This block sends PDO packets over a CAN bus to one or several drives. The drives itself must be initialized by SDO transfers and brought into operational state where PDO transfer is possible. The control system must incorporate a block for sending and another one for receiving CAN messages.

CAN Receive

Anonymous (anonymous@undisclosed.example.com) — 2024-05-27T15:04:17+00:00

CAN Receive This block receives raw CAN messages from one or several MYACTUATOR RMD-X series drives. The block outputs the position information of the drives on its output signal. The control system must incorporate a block for sending and another one for receiving CAN messages.

CAN Send

Anonymous (anonymous@undisclosed.example.com) — 2024-05-27T15:03:42+00:00

CAN Send This block sends raw CAN messages to one or several MYACTUATOR RMD-X series drives. The block gets the position information for the drives from its input signal. The speed information for the drives can be set with void setSpeed(Matrix& speed);

Signal Checker

Anonymous (anonymous@undisclosed.example.com) — 2021-07-09T12:36:04+00:00

Signal Checker A signal checker block serves to check a signal of the control system to be within a given range. As soon as this is longer the case the block will trigger a safety event which can cause the safety system to change its level and handle the situation appropriately. See

Constant

Anonymous (anonymous@undisclosed.example.com) — 2020-06-26T11:02:33+00:00

Constant A constant block delivers a constant value at its output. Please remember that only after its run-method is executed for the first time that its output value changes from NaN to its constant value. The value of the constant block can set and get from external components such as the safety system or the sequencer.

Differentiator

Anonymous (anonymous@undisclosed.example.com) — 2021-05-05T10:26:45+00:00

Differentiator The differentiator block calculates the differences in values and timestamps of two consecutive input signals. If the timestamps of two consecutive input signals are equal, the output signal is set to the previous output signal.

Delay

Anonymous (anonymous@undisclosed.example.com) — 2020-06-26T11:18:38+00:00

Delay A delay block is used to delay an input signal for a certain amount of time. The delay blocks consists of a buffer with a lenght depending on the delay time and the sampling rate.

Demultiplexer

Anonymous (anonymous@undisclosed.example.com) — 2021-04-08T10:14:19+00:00

Demultiplexer This blocks allows to split an input vector into its distinctive components. Demultiplexer block The type of the outputs could be of any type such as the default type double DeMux<2> dm1; The input of this demultiplexer will be of type

Beckhoff EL1008 Digital Input

Anonymous (anonymous@undisclosed.example.com) — 2021-10-07T09:24:42+00:00

Beckhoff EL1008 Digital Input This block reads a Beckhoff EL1008 digital input device over EtherCAT and outputs up to 8 digital signals. For the first two of the eight signals, the block automatically creates an instance of hal::BeckhoffEL1008DigIn

Beckhoff EL2008 Digital Output

Anonymous (anonymous@undisclosed.example.com) — 2021-10-07T08:17:41+00:00

Beckhoff EL2008 Digital Output This block samples up to 8 digital input signals and sends their state over EtherCAT to a Beckhoff EL2008 digital output device.

Beckhoff EL3004 Analog Input

Anonymous (anonymous@undisclosed.example.com) — 2021-10-07T09:35:30+00:00

Beckhoff EL3004 Analog Input This block reads a Beckhoff EL3004 analog input device over EtherCAT and outputs up to 8 analog signals.

Beckhoff EL4004 Analog Output

Anonymous (anonymous@undisclosed.example.com) — 2021-10-07T09:56:04+00:00

Beckhoff EL4004 Analog Output This block samples up to 4 analog input signals and sends their state over EtherCAT to a Beckhoff EL4004 analog output device.

Elmo Input

Anonymous (anonymous@undisclosed.example.com) — 2021-12-03T12:04:07+00:00

Elmo Input This block reads a Elmo drive over EtherCAT and outputs the position, velocity and torque values onto three output signals. All values must be scaled in order to get meaningful physical entities.

Elmo Output

Anonymous (anonymous@undisclosed.example.com) — 2021-12-03T12:03:28+00:00

Elmo Output This block reads input signals for position, velocity and torque and sends them over EtherCAT to an Elmo drive. All values must be scaled from physical entities to fit into the transmit frame of EtherCAT.

Gain

Anonymous (anonymous@undisclosed.example.com) — 2026-03-19T11:01:01+00:00

Gain The gain block allows to amplify an input signal. In general, the input signal is of type matrix and hence, the gain will have to be a matrix as well. However, the type of the input signal and the output signal must be the same. When the gain block is disabled the output is equal to the input. When declaring a gain block you have to make sure that the gain matrix multiplied with the input type produces a result with the same type as the input type.

Basic Block

Anonymous (anonymous@undisclosed.example.com) — 2026-04-20T12:10:37+00:00

Basic Block Blockio is the basic block from which all other blocks inherit. See Custom Blocks to learn how to use this basic blocks for your custom made blocks. However, you can use this block directly and set its specific algorithm that will run whenever the block runs within a timedomain. Use the template parameters to choose any number of input and output signals together with their associated types. The algorithm can be passed to the constructor of the block with a lambda function.

Integrator

Anonymous (anonymous@undisclosed.example.com) — 2021-07-07T18:06:47+00:00

Integrator The integrator block allows to integrate an input signal. Before using it set its initial state with setInitCondition(T val); Without setting the initial state to a meaningful value, the output will be nan even after enabling the block.

Kalman Filter

Anonymous (anonymous@undisclosed.example.com) — 2021-10-31T19:15:50+00:00

Kalman Filter A kalman filter block is used to estimate the state of a system. The system must be described in a state space representation: u -----------------------> physical system ------------------------------> y | | | | | ---------------------> D --------------------- | | | | | …

Keyboard Input

Anonymous (anonymous@undisclosed.example.com) — 2021-04-22T08:48:15+00:00

Keyboard Input A keyboard input block allows to read a registered set of keys from the keyboard. This set of registered keys are available on the output of this block. To give an example KeyboardInput<3> keyboard{{'a','b','c'}, {"start", "stop", "home"}};

Low Pass Filter

Anonymous (anonymous@undisclosed.example.com) — 2021-10-30T08:10:20+00:00

Low Pass Filter A low pass filter block is used to filter an input signal. The output signal value depends on the current and the past input signal value, according to the equation valOut = valin * alpha + valprev * (1 - alpha) The filter can be disabled. In this case the current input will be directed to the output.

Moving Average Filter

Anonymous (anonymous@undisclosed.example.com) — 2021-10-30T06:46:12+00:00

Moving Average Filter A moving average filter block is used to filter an input signal. The output signal value depends linearly on the current and past input signal values. This is achieved by multiplying the current and the past values with coefficients. The output signal is the accumulated result.

Median Filter

Anonymous (anonymous@undisclosed.example.com) — 2021-10-30T07:01:20+00:00

Median Filter A median filter block is used to filter an input signal. The current input value together with a given number of past input values are sorted. The median of of these values is used as a new output value.

Mouse Input

Anonymous (anonymous@undisclosed.example.com) — 2020-12-03T11:10:02+00:00

Mouse Input This block allows to read the position and buttons of a mouse. It delivers position and button information on its output vectors. Positions can be scaled. If the device cannot be opened due to a non existing device file or due to access restrictions a error message appears on the log.

Multiplier

Anonymous (anonymous@undisclosed.example.com) — 2021-05-16T12:28:00+00:00

Multiplier A multiplier takes its two input signals and multiplies them. If the inputs are of type matrix it will calculate the matrix products. When declaring this block you have to indicate the two types of the two input signals as well as the type of the output signal, e.g.:

Multiplexer

Anonymous (anonymous@undisclosed.example.com) — 2025-01-14T09:01:38+00:00

Multiplexer This blocks allows to merge several distinctive signals into a vector. Multiplexer block The type of the inputs could be of any type such as Mux<2> m1; The output of this multiplexer will be of type Matrix<2,1,double> or Vector2 while each input is simply of type

ODrive

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T15:31:56+00:00

ODrive This block is used to control an ODrive, . Such a drive can control up to two motors. It is connected through a USB or UART connection. The block has an input for speed control setting and offers three outputs, being the actual speed, actual current and the current setpoint. There are separate blocks for connecting over USB or UART.

Path Planner Constant Acceleration

Anonymous (anonymous@undisclosed.example.com) — 2020-09-03T10:11:48+00:00

Path Planner Constant Acceleration This path planner with constant acceleration generates a trajectory where the acceleration is always constant. The trajectory leads from the start position to its end position. Both positions can be specified in several dimensions. The acceleration is set to a positive constant value. The velocity starts from 0 and goes up to its maximum value which can be chosen for each dimension. After this maximum velocity is reached the acceleration is set to 0 and the tr…

Path Planner Constant Jerk

Anonymous (anonymous@undisclosed.example.com) — 2021-05-16T12:28:40+00:00

Path Planner Constant Jerk This path planner with constant acceleration generates a trajectory where the acceleration is always constant. The trajectory leads from the start position to its end position. Both positions can be specified in several dimensions. The acceleration is set to a positive constant value. The velocity starts from 0 and goes up to its maximum value which can be chosen for each dimension. After this maximum velocity is reached the acceleration is set to 0 and the trajectory…

Path Planner Cubic

Anonymous (anonymous@undisclosed.example.com) — 2020-09-03T06:58:16+00:00

Path Planner Cubic This path planner takes precalculated cubic splines from a file and outputs the resulting values for jerk, acceleration, velocity and position onto its outputs. All these values are given for one dimension. The file must contain piecewise information about the jerk within a given interval together with the start conditions for acceleration, velocity and position at the beginning of the interval. You must make sure, that these initial values are the results from the last inter…

Peripheral Input

Anonymous (anonymous@undisclosed.example.com) — 2021-05-28T11:40:27+00:00

Peripheral Input This block allows to read a signal from some hardware source. This could be a simple digital input or an analog input. Such a block will always read from an input defined in the Hardware Abstraction Layer. The constructor of this block looks like PeripheralInput(std::string id, bool exclusive = true);

Peripheral Output

Anonymous (anonymous@undisclosed.example.com) — 2021-05-28T11:41:29+00:00

Peripheral Output This block allows to write to a hardware output. This could be a digital output or an analog output. Such a block will always write to an output defined in the Hardware Abstraction Layer. The constructor of this block looks like PeripheralOutput(std::string id, bool exclusive = true);

PixyCam 2

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T14:32:16+00:00

PixyCam 2 Pixy2 is a small camera able to detect and follow objects which have been teached before, . It is connected over USB2. You have to fetch and install a suitable library first, see PixyCam.

Rate Limiter

Anonymous (anonymous@undisclosed.example.com) — 2021-10-31T18:26:33+00:00

Rate Limiter The RateLimiter block limits the first derivative of the signal passing through it. To give an example: * if the signal is a position, a rate limiter will limit the velocity with which the signal can change at its output. * if the signal is a velocity, a rate limiter will limit the acceleration with which the signal can change at its output.

RealSense T256

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T14:36:07+00:00

RealSense T256 The RealSense T256 is a camera for localization and mapping, Realsense T256. It is connected over USB3. It outputs signals for translation, velocity, acceleration, angular velocity and angular acceleration. Another output delivers quaternions. Fetch and install the accompanying library, see

ROS2 Publisher Analog Signal

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T09:14:26+00:00

ROS2 Publisher Analog Signal This block samples the signal at its input and packs it into a ROS2 message of type eeros_msgs::msg::AnalogSignal. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherAnalogSignal<> pubAS(node, "myTopic"); // create publisher block

ROS2 Publisher Digital Signal

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T09:16:52+00:00

ROS2 Publisher Digital Signal This block samples the signal at its input and packs it into a ROS2 message of type eeros_msgs::msg::DigitalSignal. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherDigitalSignal<> pubDS(node, "myTopic"); // create publisher block

ROS2 Publisher Odometry Message

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T13:01:05+00:00

ROS2 Publisher Odometry Message This block creates a odometry message of type nav_msgs::msg::odometry from the input signals pose and twist and publishes it as a nav_msgs::msg::odometry message. RosPublisherOdometry pubOdom(node, "/test/odom", "rbf", "of"); // create publisher block

ROS2 Publisher Safety Level

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T09:19:43+00:00

ROS2 Publisher Safety Level This block reads the safety level id and packs it into a ROS message of type std_msgs::msg::String. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherSafetyLevel pubSL(node, "myTopic"); // create publisher block

ROS2 Subscriber Analog Signal

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:58:54+00:00

ROS2 Subscriber Analog Signal This block receives ROS messages of type eeros_msgs::msg::AnalogSignal. Each time the block is run by its time domain, the content of the last message is written to the signal output of the block. RosSubscriberAnalogSignal<> sub(node, "myNode/myTopic"); // create subscriber block

ROS2 Subscriber Digital Signal

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:59:20+00:00

ROS2 Subscriber Digital Signal This block receives ROS messages of type eeros_msgs::msg::DigitalSignal. Each time the block is run by its time domain, the content of the last message is written to the signal output of the block. RosSubscriberDigitalSignal<> sub(node, "myNode/myTopic"); // create subscriber block

ROS2 Subscriber Twist Message

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T13:02:43+00:00

ROS2 Subscriber Twist Message This block receives a twist message of type geometry_msgs::msg::twist from the input signals pose and twist and publishes it as a geometry_msgs::msg::twist message. RosSubscriberTwist subTwist(node, "/test/twist"); // create subscriber block

ROS Publisher Double

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:38:53+00:00

ROS Publisher Double This block samples the signal at its input and packs it into a ROS message of type std_msgs::Float64. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherDouble pubDouble("myTopic"); // create publisher block

ROS Publisher Double Array

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:39:08+00:00

ROS Publisher Double Array This block samples the vector signal at its input and packs it into a ROS message of type std_msgs::Float64MultiArray. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherDoubleArray pubArray("myTopic", 100); // create publisher block

ROS Publisher Laser Scan

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:39:32+00:00

ROS Publisher Laser Scan This block samples the sensor signal of a laser scanner at its inputs and packs it into a ROS message of type sensor_msgs::LaserScan. Each time the block is run by its time domain, this message is published under a given topic name.

ROS Publisher Safety Level

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:39:50+00:00

ROS Publisher Safety Level This block reads the safety level id and packs it into a ROS message of type std_msgs::UInt32. Each time the block is run by its time domain, this message is published under a given topic name. RosPublisherSafetyLevel pubSL("myTopic"); // create publisher block

ROS Subscriber Double

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:41:03+00:00

ROS Subscriber Double This block receives ROS messages of type std_msgs::Float64. Each time the block is run by its time domain, the message content is written to the output of the block. RosSubscriberDouble subDouble("myNode/myTopic"); // create subscriber block

ROS Subscriber Double Array

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:41:34+00:00

ROS Subscriber Double Array This block receives ROS messages of type std_msgs::Float64MultiArray. Each time the block is run by its time domain, the message content is written to the output of the block. RosSubscriberDoubleArray subArray("myNode/myTopic"); // create subscriber block

ROS Subscriber Laser Scan

Anonymous (anonymous@undisclosed.example.com) — 2025-03-18T12:42:09+00:00

ROS Subscriber Laser Scan This block receives a ROS message of type sensor_msgs::LaserScan. Each time the block is run by its time domain, the last message received is driven on its output signals. // create subscriber block, laserscanner range has a size of 150 values RosSubscriberLaserScan, Matrix<150, 1, double >> laserScan("myNode/myTopic", 100, false);

RP Lidar

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T15:26:24+00:00

RP Lidar This block is used to gather data from a RP lidar laser range sensor, . It is connected through a serial port and offers two outputs, being the distance and the angles. You have to fetch and install a suitable library first, see RPLidar.

Saturation

Anonymous (anonymous@undisclosed.example.com) — 2021-11-01T09:25:31+00:00

Saturation A Saturation block limits an input value between two limit values. The output value will always vary between lower and upper limit. If the block is disabled, the output value will simply follow the input.

SBG Ellipse-A

Anonymous (anonymous@undisclosed.example.com) — 2021-11-10T14:43:03+00:00

SBG Ellipse-A This block reads a SBG Ellipse-A IMU sensor over USB and outputs the distance, Ellipse-A. It outputs euler angles, acceleration, gyro and quaternions. You have to fetch and install a suitable library first, see SBG Ellipse-A.

Socket Data

Anonymous (anonymous@undisclosed.example.com) — 2021-04-22T10:20:31+00:00

Socket Data A socket data block allows for sending or receiving signal values to or from a remote station over a socket connection. This can be used to gather signals from a sensor or send signals to an remote control unit. Upon instantiation the block will create a socket server (or socket client) which runs in its own thread. Any socket client can now connect to this server. After a connection is established the two can send or receive any type of signal.

Space Navigator Input

Anonymous (anonymous@undisclosed.example.com) — 2021-04-22T08:49:08+00:00

Space Navigator Input A space navigator input block allows to read the control inputs of such a device.

Step

Anonymous (anonymous@undisclosed.example.com) — 2021-05-16T12:29:05+00:00

Step The step block delivers a step function on its output. The following lines show various examples. Step s1({0.2, 2.5, 3.5}); The first parameter is the initial value, that is, the output value before the step happens. The second parameter denotes the step height while the third gives the time delay after which the step function happens. In our example, the output value will switch to 2.7 after 3.5s.

Sum

Anonymous (anonymous@undisclosed.example.com) — 2021-05-16T12:29:21+00:00

Sum A sum block allows to add N input signals together to produce a single output signal. Each of the input signals can be negated if necessary with void negateInput(uint8_t index); Situations can arise that a sum blocks draws one of its inputs from signals which are produced further down in the chain, e.g. feedback signals.

Switch

Anonymous (anonymous@undisclosed.example.com) — 2021-07-07T18:09:49+00:00

Switch A switch block allows to select one of several input signals to write to its output. The code below shows a switch with 3 inputs where the second input is selected. Switch<3> sw; sw.switchToInput(1); You can also query the index of the selected input with

Trace

Anonymous (anonymous@undisclosed.example.com) — 2018-08-22T09:54:32+00:00

Trace The trace block allows to sample the signal of its input into a ring buffer. This buffer captures the last n data points. A user application can log the content of the buffer into an external file. This can be useful for debugging purposes. For more information see

Transition

Anonymous (anonymous@undisclosed.example.com) — 2021-02-10T14:40:44+00:00

Transition A transition block allows to connect two different time domains. It is basically a container holding two blocks. Each of the two time domains runs one of those two blocks. A transition blocks connects two time domains. The function of this transition block depends on the ratio of the periods of the time domains.

Watchdog

Anonymous (anonymous@undisclosed.example.com) — 2024-06-10T15:09:07+00:00

Watchdog A watchdog device can greatly improve the overall safety of a system. We recommend to periodically reset such a watchdog from within the main time domain of the control system, e.g. the time domain which runs your actuators. Set the watchdog time to a reasonable multiple of the period of the time domain. Now, if your system gets stuck and your time domain does not run within its desired limit, the watchdog will timeout and switch off your drives. For further information about the use o…

WrapAround

Anonymous (anonymous@undisclosed.example.com) — 2021-10-31T17:58:12+00:00

WrapAround A wrap around block tailors a signal so that its value stays within a given range. It is especially useful for angular values such as an angle which accumulates but has to stay within for instance the range -π / +π. As soon as it reaches the upper limit its value will wrap around to the lower limit. Naturally the wrapping occurs when going in both directions.

XBox Input

Anonymous (anonymous@undisclosed.example.com) — 2018-10-23T07:21:42+00:00

XBox Input This block allows to read the position and buttons of a XBox controller. It delivers axis and button information on its output vectors. If the device cannot be opened due to a non existing device file or due to access restrictions a error message appears on the log.