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

Package Summary

Provides teleoperation using keyboard for OpenManipulator.

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

Package Summary

Provides teleoperation using keyboard for OpenManipulator.

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

open_manipulator_joystick

This node is provided to control OpenManipulator by joystick controllers.

Subscribed Topics

joint_states (sensor_msgs/JointState)
  • This message is used to subscribe robot joint states such as joint position.
kinematics_pose (open_manipulator_msgs/KinematicsPose)
  • This message is used to subscribe kinematic pose of manipulator end-effector.
joy (sensor_msgs/Joy)
  • This message is used to subscribe commends published from joystick nodes.

Services Called

goal_joint_space_path (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting movement of the manipulator to the target joint position in the joint space.
goal_task_space_path_from_present_position_only (open_manipulator_msgs/SetKinematicsPose)
  • This service is used to request the movement of the manipulator as much as the delta position from the present position in task space.
goal_tool_control (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting goal position of the tool of the manipulator.

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.

open_manipulator_keyboard

This node is provided to control OpenManipulator by keyboard inputs.

Subscribed Topics

joint_states (sensor_msgs/JointState)
  • This message is used to subscribe robot joint states such as joint position.
kinematics_pose (open_manipulator_msgs/KinematicsPose)
  • This message is used to subscribe kinematic pose of manipulator end-effector.

Services Called

goal_joint_space_path (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting movement of the manipulator to the target joint position in the joint space.
goal_joint_space_path_from_present (open_manipulator_msgs/SetJointPosition)
  • This service is used to request the movement of the manipulator as much as the delta position from the present joint position in joint space.
goal_task_space_path_from_present_position_only (open_manipulator_msgs/SetKinematicsPose)
  • This service is used to request the movement of the manipulator as much as the delta position from the present position in task space.
goal_tool_control (open_manipulator_msgs/SetJointPosition)
  • This service is used when requesting goal position of the tool of the manipulator.

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_teleop (last edited 2019-03-12 08:41:20 by Hyejong Kim)