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Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: release_electric)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: release_fuerte)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: groovy)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Maintainer status: developed
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: LGPL
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: hydro_release_candidate)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Maintainer status: maintained
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: indigo_release_candidate)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Maintainer status: developed
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: kinetic_dev)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Maintainer status: developed
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: kinetic_dev)
Package Summary
This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...
- Maintainer status: maintained
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/schunk_modular_robotics.git (branch: kinetic_dev)
Contents
Hardware Requirements
To use this package you need one or more powercubes www.schunk-modular-robotics.com. Alternatively you can use a simulated version without any hardware, see schunk_bringup_sim.
Software Requirements
The installation is tested for Ubuntu 14.04 using ROS indigo. If you discover problems installing them on other platforms, please tell us.
ROS API
The schunk_powercube_chain package provides a configurable node for operating a chain of powercube modules.
schunk_powercube_chain
The schunk_powercube_chain node takes in brics_actuator/JointVelocities messages and sends this directly to the hardware. The chain can be initialized, stopped or recovered via services.Subscribed Topics
joint_group_velocity_controller/command (std_msgs/Float64MultiArray)- Receives velocity commands.
- Receives position commands (Not implemented yet).
Published Topics
/joint_states (sensor_msgs/JointState)- Joint state information for all modules in chain.
- Controller state information for all modules in chain.
- Current operation mode for chain.
- Diagnostics information about chain.
Services
driver/init (std_srvs/Trigger)- Initializes the node and connects to the hardware.
- Stops immediately all hardware movements.
- Recovers the hardware after an emergency stop.
- Sets the operation mode for the node. Currently only "velocity" mode implemented.
Parameters
can_module (string, default: Required)- Can module specifier, e.g. PCAN, ESD
- Device address of can module, e.g. /dev/can0, /dev/pcan2,...
- Baudrate of can module, e.g. 1000, 500,...
- Modul IDs of the powercubes, e.g. [10,11,12,13,...]
- Forces using the M5API moveVel command instead of moveStep.
- List of joint names corresponding to urdf description, e.g. [arm_1_joint, arm_2_joint, arm_3_joint,...]
- List of maximal accelerations for the modules in rad/sec^2, e.g. [0.8,0.8,0.8,...]
- Horizon in seconds for commanding moveStep. E.g. 0.1 commands a step size of 0.1 seconds into the future.
- Controller frequency.
- Minimum duration of publishing joint states if no command is received, otherwise for each received command one joint state message is published.
- Urdf model of the robot, including the joints and links describing the chain of powercubes
Usage/Examples
This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. schunk_bringup in the schunk_robots stack. For starting only the lwa use
roslaunch schunk_bringup lwa_solo.launch
For including the lwa in your overall launch file use
<include file="$(find schunk_bringup)/components/lwa.launch" />
All hardware configuration is done in the schunk_hardware_config package. A sample parameter file in "schunk_hardware_config/lwa/config/lwa.yaml" could look like this
can_module: PCAN can_device: /dev/pcan1 can_baudrate: 1000 modul_ids: [1,2,3,4,5,6,7] joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] max_accelerations: [0.8,0.8,0.8,0.8,0.8,0.8,0.8] frequency: 68 OperationMode: position ptp_vel: 0.4 # rad/sec ptp_acc: 0.1 # rad/sec^2 max_error: 0.2 # rad