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This package is barely usable alone since it provides only the hardware interface for the qbroboticsĀ® qbmove device.

API

qb_move_hardware_interface

This library inherits from the base device-independent qb_device_hardware_interface (therefore provides the same ROS API) and extends its features specifically for the qbmove. In brief, it provides the specific transmission interface for the qbmove, which is the only thing that is really device dependent, and exploits the same hardware interfaces properly initialized (cf. qb_device_hardware_interface), and the same Communication Handler to talk to the physical device (cf. qb_device_driver). Furthermore, it provides the following additional parameters.

Parameters

~command_with_position_and_preset (boolean)
  • Chose whether to control the qbmove using shaft position and stiffness preset references (when true), or directly using actuator position references (when false).
~encoder_resolutions (int, default: 3000)
  • The device encoder resolutions, in range [0, 8].
~preset_ticks_limit (int)
  • The qbmove stiffness preset upper limit, expressed in motor ticks.

Be aware that it can be dangerous to change encoder_resolutions and preset_ticks_limit arbitrarily. These values must match their relative configurations set in the device.

Wiki: qb_move_hardware_interface (last edited 2017-03-15 14:40:03 by AlessandroTondo)