ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

pick

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State)
  • Subscribe state of manipulator
open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State)
  • Subscribe state of gripper
ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)
  • Subscribe marker pose

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition)
  • Set present joint position
open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
  • Set present kinematics pose of manipulator
open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition)
  • Set present gripper posotion
open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick)
  • Commands starts pick up task
open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick)
  • Show results of pick up task

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)
  • Set robot name
/marker_id (int, default: 8)
  • Set marker id
/offset_for_object_height (float, default: 0.150)
  • Set offset for object height
/dist_ar_marker_to_object (float, default: 0.049)
  • Set distance between ar marker to object

place

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State)
  • Subscribe state of manipulator
open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State)
  • Subscribe state of gripper
ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)
  • Subscribe marker pose

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition)
  • Set present joint position
open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
  • Set present kinematics pose of manipulator
open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition)
  • Set present gripper position
open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place)
  • Set task start commands
open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place)
  • Show results of place

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)
  • Set robot name
/marker_id (int, default: 8)
  • Set marker id
/offset_for_object_height (float, default: 0.200)
  • Set offset for object height
/dist_ar_marker_to_object (float, default: 0.070)
  • Set distance between ar marker to object

controller_for_pick_and_place

Subscribed Topics

open_manipulator/node_control_trigger (std_msgs/String)
  • Subscribe commands to start controller node
move_base/result (move_base_msgs/MoveBaseActionResult)
  • Subscribe result of move base
ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)
  • Subscribe marker pose
odom (nav_msgs/Odometry)
  • Subscribe odometry data

Published Topics

/cmd_vel (geometry_msgs/Twist)
  • Publish velocity

Services

open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick)
  • Show results of pick up task
open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place)
  • Show results of place
open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick)
  • Set task start commands
open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place)
  • Set task start commands

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)
  • Set robot name
/marker_id (int, default: 8)
  • Set marker id
/distance_btw_base_to_ar_marker (float, default: 0.170)
  • Set distance between base to ar marker
/rotate_after_pick_up (float, default: 175.0)
  • Set degree for rotating after pick up
/position_x_in_front_up_an_object (float, default: -1.393)
  • Set goal position(x)
/position_y_in_front_up_an_object (float, default: 3.545)
  • Set goal position(y)
/position_z_in_front_up_an_object (float, default: 0.0)
  • Set goal position(z)
/orientation_w_in_front_up_an_object (float, default: 0.705)
  • Set goal orientation(w)
/orientation_x_in_front_up_an_object (float, default: 0.0)
  • Set goal orientation(x)
/orientation_y_in_front_up_an_object (float, default: 0.0)
  • Set goal orientation(y)
/orientation_z_in_front_up_an_object (float, default: 0.709)
  • Set goal orientation(z)
/position_x_in_front_up_a_box (float, default: 0.760)
  • Set goal position(x)
/position_y_in_front_up_a_box (float, default: 3.670)
  • Set goal position(y)
/position_z_in_front_up_a_box (float, default: 0.0)
  • Set goal position(z)
/orientation_w_in_front_up_a_box (float, default: 0.705)
  • Set goal orientation(w)
/orientation_x_in_front_up_a_box (float, default: 0.0)
  • Set goal orientation(x)
/orientation_y_in_front_up_a_box (float, default: 0.0)
  • Set goal orientation(y)
/orientation_z_in_front_up_a_box (float, default: 0.709)
  • Set goal orientation(z)

Wiki: open_manipulator_with_tb3_tools (last edited 2018-06-15 03:00:18 by Darby Lim)