Documentation

This package has one node which sends commands to RTAI to pickup and place cups with the BipedRobin robot.

Nodes

object_manipulator

This nodes provides services to pickup and place cups, and move the robot in a defined start posture. It calls services to move the robot and the gripper.

Services

pickup_srv (biped_robin_msgs/PickupObjectService)
  • When this service is called the robot picks up a cup at the coordinates specified in the PickupObjectService message.
place_srv (biped_robin_msgs/PickupObjectService)
  • When this service is called the robot places up a cup at the coordinates specified in the PickupObjectService message.
startPosture_srv (std_srvs/Empty)
  • This Services moves the robot in a defined start posture.

Services Called

movePostureCartesian_srv (biped_robin_msgs/MovePostureCartesianService)
  • This service moves the robot by sending the coordinates of the tcp, orientation of the robots upper body and angles of the two arms.
hand_node/hand_srv (sensorhand_speed/hand_cmd)
  • Service to open and close the robot hand and setting the grip mode of the hand.

Wiki: biped_robin_object_manipulator (last edited 2014-05-21 08:55:20 by Lukas Proprentner)