!

Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Moving the torso

Controlling the torso

This tutorial demonstrates how to move the robot's torso up and down. The torso can be controlled by sending std_msgs/Float64 messages to the torso_controller/command topic. Open a new terminal window, and type the following command:

$ roslaunch armadillo2 armadillo2.launch gazebo:=true

Gazebo window should appear with the robot model in it.

Note: Omit gazebo:=true argument if you want to control the torso of the real robot.

Open a new terminal window, and type the following command:

$ rostopic pub /torso_position_controller/command std_msgs/Float64 0.2

You should be able to see the robot's torso goes up. Press ctrl+c and the type:

$ rostopic pub /torso_position_controller/command std_msgs/Float64 0.07

You should be able to see the robot's torso goes down.

Note: Robot's torso elevator std_msgs/Float64 minimum value is 0.0, and maximum value is 0.4.