|Note: This tutorial assumes that you have completed the previous tutorials: qbmove Setup, qbmove Waypoint Control.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
qbmove API ControlDescription: Custom control application using the qbmove API
Keywords: qbmove control API
Tutorial Level: ADVANCED
If you need a complex (i.e. real) control application, e.g. the qbmove is mounted on a robot which uses computer vision aid to grasp objects, the previous two control modes don't really help much. What we provide for real applications is the full ROS libraries to manage and control the qbmove.
A qbmove properly connected to your system (cf. qbmove Setup tutorial).
You have to dig into the qb_move package documentation and find what better suite for your needs, e.g. use form within the code or extend the qbMoveControl class provided, or even redesign it from scratch by following an approach similar to ours.
The creation of one or several launch files to start your application is up to you.
Our recommendation is to use as much as possible our resources, classes and macros to help you while developing your application. Don't reinvent the wheel!
At last, if you come up with a something useful for the whole community, it will be amazing if you propose your improvement with a Pull Request in the package of interest on our Bitbucket.