Show EOL distros: 

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides Gazebo plugins to simulate the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: hydro_catkin)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides Gazebo plugins to simulate the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: indigo_catkin)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides Gazebo plugins to simulate the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: jade)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides Gazebo plugins to simulate the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: kinetic)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides Gazebo plugins to simulate the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: lunar)

Available Plugins

Currently, there is only one plugin available that simulates the gripper. See packages katana_description and katana_arm_gazebo for usage examples and for information on the Gazebo parameters (not documented here).

gazebo_ros_katana_gripper

Action Goal

posture_action_name/goal (object_manipulation_msgs/GraspHandPostureExecutionActionGoal)
  • Enables one to open or close the gripper via the GRASP or RELEASE command or to move the gripper to a arbitrary position choosing the PRE-GRASP option.

Action Result

posture_action_name/result (object_manipulation_msgs/GraspHandPostureExecutionActionResult)
  • Result of the manipulation task.

Published Topics

gripper_controller_state (katana_msgs/GripperControllerState)
  • The actual position, desired position and error in position of each gripper joint.

Services

grasp_query_name (object_manipulation_msgs/GraspStatus)
  • Asks if a grasp is currently active. Used to query if the object is still detected as present in the hand, using joint angles.

Parameters

~gripper_object_presence_threshold (double, default: -0.43)
  • A joint angle below this value indicates there is nothing inside the gripper.

Wiki: katana_gazebo_plugins (last edited 2011-09-01 09:43:44 by MartinGuenther)