manipulator_h: manipulator_h_base_module | manipulator_h_base_module_msgs | manipulator_h_bringup | manipulator_h_description | manipulator_h_gazebo | manipulator_h_gui | manipulator_h_kinematics_dynamics | manipulator_h_manager

Package Summary

The manipulator_h_base_module package This package describes basic function to control ROBOTIS MANIPULATOR-H. This module is based on position control. We provides joint space and task space control (forward kinematics, inverse kinematics).

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

manipulator_h_base_module_node

Subscribed Topics

robotis/base/ini_pose_msg (std_msgs/String)
  • The message in this topic is used for initial pose.
robotis/base/set_mode_msg (std_msgs/String)
  • The message in this topic is used for set mode.
robotis/base/joint_pose_msg (manipulator_h_base_module_msgs/JointPose)
  • The message in this topic is for joint space control.
robotis/base/kinematics_pose_msg (manipulator_h_base_module_msgs/KinematicsPose)
  • The message in this topic is for task space control.

Published Topics

robotis/status (robotis_controller_msgs/StatusMsg)
  • The message in this topic is used for current state.
robotis/enable_ctrl_module (std_msgs/String)
  • The message in this topic is used to configure modules to control.

Services Called

robotis/base/get_joint_pose (manipulator_manipulation_module_msgs/GetJointPose)
  • This service is used to read current joint value.
robotis/base/get_kinematics_pose (manipulator_manipulation_module_msgs/GetKinematicsPose)
  • This service is used to read current end effector's pose.

Wiki: manipulator_h_base_module (last edited 2018-04-26 07:12:41 by Jaehyun Shim)