Only released in EOL distros:
cob_driver: cob_arm | cob_base | cob_base_drive_chain | cob_battery | cob_camera_sensors | cob_canopen_motor | cob_forcetorque | cob_generic_can | cob_head_axis | cob_hokuyo | cob_joint_state_aggregator | cob_joy | cob_light | cob_manipulator | cob_oodl_scanner | cob_powercube_chain | cob_pseudo_joint_state_publisher | cob_relayboard | cob_sdh | cob_sick_s300 | cob_sound | cob_torso | cob_touch | cob_trajectory_controller | cob_tray | cob_tray_sensors | cob_undercarriage_ctrl
Package Summary
No API documentation
cob_head_axis
- Author: Ulrich Reiser
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_driver.git
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_head_axis
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_electric)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_head_axis
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_fuerte)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_cam3d_throttle | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
cob_head_axis
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: groovy)
cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
cob_head_axis
- Maintainer status: developed
- Maintainer: Matthias Gruhler <mig AT ipa.fhg DOT de>
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_camera_sensors | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
cob_head_axis
- Maintainer status: maintained
- Maintainer: Matthias Gruhler <mig AT ipa.fhg DOT de>
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: indigo_release_candidate)
cob_driver: cob_base_drive_chain | cob_bms_driver | cob_canopen_motor | cob_elmo_homing | cob_generic_can | cob_light | cob_mimic | cob_phidgets | cob_relayboard | cob_scan_unifier | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
cob_head_axis
- Maintainer status: developed
- Maintainer: Matthias Gruhler <mig AT ipa.fhg DOT de>
- Author: Ulrich Reiser
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: indigo_release_candidate)
Contents
ROS API
The cob_head_axis package provides a configurable node for operating the axis of the head.
cob_head_axis
The cob_head_axis node takes in trajectory_msgs/JointTrajectory messages and send this directly to the hardware. The joint states can be received by topics and the axis can be initialized, stopped or recovered via services.Action Result
joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)- -
Action Feedback
joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)- -
Subscribed Topics
command (trajectory_msgs/JointTrajectory)- Receives direct commands.
Published Topics
/joint_states (sensor_msgs/JointState)- Publishes the joint states of all modules.
- Publishes the diagnostic information about the state of the robot.
Services
init (cob_srvs/Trigger)- Initializes the node and connects to the hardware.
- Stops immediately all hardware movements.
- Recovers the hardware after an emergency stop.
- Sets the operation mode for the node.
- Sets the default velocity.
Parameters
~CanDevice (string, default: Required)- Can module specifier, e.g. PCAN, ESD
- Baudrate of can module, e.g. 1000, 500,...
- Modul ID
- The name of the joint in the robot description of the axis
- -
- -
- -
- -
- -
Usage
All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/head.yaml" could look like this
CanDevice: PCAN:0 CanBaudrate: 500 ModId: 17 JointName: head_axis_joint HomingDir: 1 MotorDirection: 1 HomingDigIn: 9 GearRatio: 62.5 EnoderIncrementsPerRevMot: 2000 operation_mode: position
