Documentation Status

Cannot load information on name: qb_device_bringup, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: indigo, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: qb_device_bringup, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

This package is barely usable alone since it provides only templates to create more structured launch files in the derived packages (cf. qb_hand and qb_move).

Launch files

The five launch file templates come in help when loading the description package of a device.

Please, use these "macros" whenever is possible to improve robustness, readability and maintenance of derived packages.

component_bringup

This launch file calls the other templates qb_device_description#load_description_template, #controllers_bringup and #control_bringup to bringup a control node for a single device without starting joint_state_publisher, robot_state_publisher and rviz.

Parameters

Since the only difference w.r.t. the #full_bringup launch file is the includes of the qb_device_description#load_description_template rather than the #description_bringup, the parameters are exactly the same as the other a part from use_rviz which is not used.

control_bringup

This launch file starts the device control node with the given parameters.

Parameters

control_action (string, default: empty string)
  • The type of the control action without the namespace prefix and the "_trajectory_controller/follow_joint_trajectory" suffix (e.g. foo if it is <namespace>_foo_trajectory_controller/follow_joint_trajectory). The namespace alone is not sufficient since a device can implement several distinct actions.
control_duration (double, default: 0.01)
  • The duration of the control loop, in [s].
device_id (int, default: 1)
  • The device ID, in range [1, 128].
device_control (string)
  • The base package name prefix (without "_control") of the control node (e.g. qb_device if it is qb_device_control).
device_namespace (string)
  • The device namespace used to avoid name clashes among same-type devices. It must be the same prefix used in the description because the control node searches for structures with this prefix (e.g. joint names).
use_waypoints (bool, default: false)
  • Selects whether to automatically control the device by looping on the given waypoints. If true the waypoints are expected to be stored in the Parameter Server under ~waypoints.
waypoint_namespace (string)
  • The namespace prefix (without "_waypoints.yaml") of the waypoints configuration file (e.g. my_device if it is my_device_waypoints.yaml). The file must be located in the config/ subdirectory of the selected _control package. In addition, the namespaced joint names inside should be consistent with the ones specified in the description bringup, usually the share the same namespace.
waypoint_settings (string)
  • The base package name prefix (without "_control") where the waypoint yaml file is stored (e.g. qb_device if it is qb_device_control).

controllers_bringup

This launch file just calls the qb_device_control#spawner_template to bringup the device controllers including the rqt_joint_trajectory_controller GUI if requested.

Parameters

controllers (string)
  • The list of names of the controllers to be spawned (e.g. *_trajectory_controller)
controllers_namespace (string)
  • The namespace prefix (without "_controllers.yaml") of the controller configuration file, necessary with many devices (e.g. my_device if it is my_device_controllers.yaml). The file must be located in the config/ subdirectory of the selected _control package. In addition, the joint names inside should be consistent with the ones specified in the description bringup, usually the share the same namespace.
controllers_settings (string)
  • The base package name prefix (without "_control") where controller settings are stored (e.g. qb_device if it is qb_device_control).
use_controller_gui (bool, default: false)
  • Selects whether to load joint trajectory controller GUI.

description_bringup

This launch file packs together the qb_device_description#load_description_template and the qb_device_description#state_publisher_template to bringup all the device description including joint_state_publisher and robot_state_publisher. If specified also starts rviz.

Parameters

device_description (string)
  • The base package name prefix (without "_description") where robot models are stored (e.g. qb_device if it is qb_device_description).
device_namespace (string)
  • The namespace prefix of joints and links, necessary with many devices (e.g. my_device creates a robot model composed by my_device_joint_... and my_device_link_... elements).
device_urdf (string)
  • The name of the xacro URDF model file to be loaded, without extension (e.g. qb_device if it is qb_device.urdf.xacro.). The file must be located in the urdf/ subdirectory of the selected _description package.
frequency (int, default: 100)
  • The publish frequency in Hz of the joint state and the robot state publishers.
source_list (string, default: [joint_states]) use_rviz (bool, default: true)
  • Selects whether to load rviz. If true, searches for the configuration file with the same name as the one specified in device_urdf which must be located in the rviz/ subdirectory of the selected _description package (i.e. it is recommended to create a specific file for each robot model). If not specified, uses the default configuration.

full_bringup

This launch file calls the other templates #description_bringup, #controllers_bringup and #control_bringup to bringup a complete control node for a single device.

Parameters

It provides basically the same configuration parameters as the other launch files a part from frequency and source_list of the #description_bringup which are not exported outside.

Wiki: qb_device_bringup (last edited 2017-03-15 14:44:29 by AlessandroTondo)