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shadow_robot: sr_description | sr_example | sr_gazebo_plugins | sr_hand | sr_hardware_interface | sr_kinematics | sr_mechanism_controllers | sr_mechanism_model | sr_move_arm | sr_movements | sr_robot_msgs | sr_tactile_sensors | sr_utilities

Package Summary

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

shadow_robot: sr_description | sr_example | sr_gazebo_plugins | sr_hand | sr_hardware_interface | sr_kinematics | sr_mechanism_controllers | sr_mechanism_model | sr_move_arm | sr_movements | sr_robot_msgs | sr_tactile_sensors | sr_utilities

Package Summary

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

shadow_robot: sr_description | sr_example | sr_gazebo_plugins | sr_hand | sr_hardware_interface | sr_mechanism_controllers | sr_mechanism_model | sr_move_arm | sr_movements | sr_robot_msgs | sr_self_test | sr_tactile_sensors | sr_utilities

Package Summary

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

shadow_robot: sr_description | sr_example | sr_gazebo_plugins | sr_hand | sr_hardware_interface | sr_mechanism_controllers | sr_mechanism_model | sr_moveit_config | sr_movements | sr_robot_msgs | sr_self_test | sr_tactile_sensors | sr_utilities

Package Summary

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

shadow_robot: sr_description | sr_example | sr_hand | sr_hardware_interface | sr_mechanism_controllers | sr_mechanism_model | sr_movements | sr_robot_msgs | sr_self_test | sr_tactile_sensors | sr_utilities

Package Summary

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

Overview

This package reads a specified bitmap and send targets by replaying the drawn movement.

It also receives an input topic and calculates the MSE for each cycle of the bitmap plot. The MSE is output to ROS_INFO and published in the topic mse_out.

For example, using this png file simple movement will send targets between the specified min and max values on a (very) rough sinusoid. The black dot on each row represents the percentage between min and max. The top of the graph is 100% (=max), the bottom is 0% (=min).

ROS interface

How to run

The recommended way of using this package is:

rosrun sr_movements sr_movements /sr_movements/targets:=/sh_ffj3_mixed_position_velocity_controller/command /sr_movements/inputs:=/sh_ffj3_mixed_position_velocity_controller/state _image_path:="`rospack find sr_movements`/movements/test.png" _min:=.1 _max:=1.4 _publish_rate:=100 _repetition:=5 _nb_step:=1000 _msg_type:="sr"

Topics published and subscribed

Publishes /sr_movements/targets with the targets values.

Publishes /sr_movements/mse_out with the calculated MSE values.

Subscribe to /sr_movements/inputs to receive the data to calculate MSE.

Parameters

where we:

  • remap the targets to the /sh_ffj3_mixed_position_velocity_controller/command topic

  • remap the inputs to the /sh_ffj3_mixed_position_velocity_controller/state topic

  • load the movement from the image sr_movements/movements/test.png

  • set the min to 0.0 and the max to 1.57

  • set the publish_rate to 100
  • set the number of repetition to 5

  • set the number of samples taken from the image (_nb_step) to 1000

  • set the type of data (_msg_type) received from inputs to "sr" to indicate that it's sr_robot_msgs. (the other possible value being "pr2" to indicate that it's pr2_controllers_msgs

Notes

If you have more than one point in the same row, the higher point will be taken into account.

If there's a gap in your drawn line, then we'll continue publishing the last value until we get to a new value.

Wiki: sr_movements (last edited 2011-10-19 11:07:45 by ToniOliver)