Only released in EOL distros:
svenzva_ros: svenzva_demo | svenzva_description | svenzva_drivers | svenzva_joy | svenzva_moveit | svenzva_msgs | svenzva_simulation | svenzva_utils
Package Summary
Documented
The svenza_drivers package
- Maintainer status: developed
- Maintainer: Max Svetlik <max AT svenzva DOT com>
- Author: Max Svetlik <max AT svenzva DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/SvenzvaRobotics/svenzva_ros/issues
- Source: git https://github.com/SvenzvaRobotics/svenzva_ros.git (branch: master)
Contents
Nodes
revel_driver
The revel driver is responsible for communicating and interfacing between the motors and ROS. The driver can be run in several modes, including position, velocity and gravity control mode. Use cases for these modes are trajectory playback, cartesian velocity and kinesthetic teaching respectively.Subscribed Topics
/joint_states (sensor_msgs/JointState)- Standardized joint state information used to inform tf, moveit, etc.
Published Topics
/revel/motor_state (svenzva_msgs/MotorStateList)- Raw motor state information collected directly from motor packets.
- A forward kinematics joint action interface.
- A trajectory playback action interface for MoveIt! and compliant controllers.
- A gripper action interface used to open and close the Revel gripper.
Services
/home_arm_service (svenzva_msgs/HomeArmService)- commands the arm to the all-zero configuration
- commands individual joints to enable or disable torque actuation without turning off the motor
- resets finger position in model. Useful when hot-swapping for fingers of a different size or shape
Parameters
~data_frequency (int, default: 50)- The frequency (Hz) that state information is gathered from the arm's motors. Stable maximum is 100 Hz.
- The initial, internal mode of the arm motors set in the svenzva_bringup.launch file. Possible values are user_defined, velocity and gravity.
revel_dynamic_model
The revel dynamic model uses the current position of the robot along with an internal model of the arms dynamics to estimate the amount of force required to hold the arm up at that position against gravity. This module is required for gravity mode.Subscribed Topics
/joint_states (sensor_msgs/JointState)- Standardized joint state information used to inform tf, moveit, etc.
Published Topics
/revel/model_efforts (sensor_msgs/JointState)- Estimated torque information for each motor given the current position of the arm.