fuerte groovy hydro indigo   Documentation Status

Package Organization

This package contains robot description and configuration files for Maxwell, organized into subdirectories as follows:

• urdf/ contains (xacro representations of) urdf descriptions of various parts of the Maxwell (arm, head, etc.), and the full robot.

• meshes/ contains mesh files (.stl) for visualization and collision properties

• params/ contains yaml specification files for the ArbotiX driver and diagnostics.

• launch/ contains roslaunch files for starting up Maxwell, on real hardware, or in simulation.

• nodes/ contains several python-based nodes, which currently have no home.

Starting Up Maxwell

To start Maxwell, use one of the following launch files:

• bringup_maxwell.launch connects to real hardware.

• head_camera.launch starts the Asus Xtion on Maxwell.

• fake_maxwell.launch starts a simulated version of the ArbotiX node. This can be useful for testing arm code.

Interacting with Maxwell

Moving the Base

The base uses a standard geometry_msgs/Twist message on the cmd_vel topic to set desired velocity.

Moving the Arm

See maxwell_arm_navigation and maxwell_interactive_markers.

Accessing Sensor Information

Use of /camera/depth is not recommended as most of our demos will use the topics in the /camera/rgb namespace.