open_manipulator: open_manipulator_control_gui | open_manipulator_controller | open_manipulator_description | open_manipulator_libs | open_manipulator_moveit | open_manipulator_teleop

Package Summary

OpenManipulator GUI control package based on QT

open_manipulator: open_manipulator_control_gui | open_manipulator_controller | open_manipulator_description | open_manipulator_libs | open_manipulator_moveit | open_manipulator_teleop

Package Summary

OpenManipulator GUI control package based on QT

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

open_manipulator_control_gui

This node provides graphical user interface based on QT.

Subscribed Topics

states (open_manimulator_msgs/OpenManipulatorState)
  • Subscribe whether the manipulator is moving or not, and whether the actuators are enabled or disabled.
joint_states (sensor_msgs/JointState)
  • Subscribe robot joint states such as joint position.
kinematics_pose (open_manipulator_msgs/KinematicsPose)
  • Subscribe kinematic pose of manipulator end-effector.

Published Topics

option (std_msgs/String)
  • Publish options to the manipulator in std::string format.

Services Called

goal_joint_space_path (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting movement of the manipulator to the target position in the joint space.
goal_task_space_path_position_only (open_manipulator_msgs/SetKinematicsPose)
  • This service is used when requesting movement of the manipulator to the target position in the task space.
goal_tool_control (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting goal position of the tool of the manipulator.
set_actuator_state (open_manipulator_msgs/SetActuatorState)
  • This service is used to request the status change of enable or disable of the actuators.
goal_drawing_trajectory (open_manipulator_msgs/SetDrawingTrajectory)
  • This service is used to request manipulator movement to follow a preset target drawing trajectory set at open_manipulator_libs.

Parameters

robot_name (string, default: open_manipulator)
  • Set robot name as namespace.
end_effector (string, default: gripper)
  • Set the end-effector name of the manipulator set in open_manipulator node of open_manipulator_libs package.

Wiki: open_manipulator_control_gui (last edited 2019-04-30 07:46:08 by Hyejong Kim)