ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

arm_controller

Subscribed Topics

move_group/display_planned_path (moveit_msgs/DisplayTrajectory)
  • Subscribe planned trajectory

Published Topics

open_manipulator/arm_state (open_manipulator_msgs/State)
  • Show state of joints
open_manipulator/goal_joint_position (sensor_msgs/JointState)
  • Publish goal joint position

Services

open_manipulator/get_joint_position (open_manipulator_msgs/GetJointPosition)
  • Get present joint position
open_manipulator/get_kinematics_pose (open_manipulator_msgs/GetKinematicsPose)
  • Get present kinematics pose of manipulator
open_manipulator/set_joint_position (open_manipulator_msgs/SetJointPosition)
  • Set present joint position
open_manipulator/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
  • Set present kinematics pose of manipulator

Parameters

/use_gazebo (bool, default: false)
  • Configure whether connect to gazebo simulation
/use_robot_name (string, default: open_manipulator)
  • Set robot name
/init_position (bool, default: false)
  • Set init_position of manipulator

gripper_controller

Subscribed Topics

move_group/display_planned_path (moveit_msgs/DisplayTrajectory)
  • Subscribe planned trajectory
open_manipulator/gripper (std_msgs/String)
  • Subscribe grip_on, grip_off, neutral messages

Published Topics

open_manipulator/gripper_state (open_manipulator_msgs/State)
  • Show state of gripper
open_manipulator/goal_joint_position (sensor_msgs/JointState)
  • Publish goal joint position

Services

open_manipulator/set_gripper_position (open_manipulator_msgs/SetJointPosition)
  • Set present gripper position

Parameters

/use_gazebo (bool, default: false)
  • Configure whether connect to gazebo simulation
/use_robot_name (string, default: open_manipulator)
  • Set robot name
/init_position (bool, default: false)
  • Set init_position of manipulator

Wiki: open_manipulator_position_ctrl (last edited 2018-06-15 02:32:37 by Darby Lim)