Documentation Status

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

Documented

turtlebot_arm_interactive_markers allows the user to control the TurtleBot arm using rviz interactive markers.

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

Documented

turtlebot_arm_interactive_markers allows the user to control the TurtleBot arm using rviz interactive markers.

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Documentation

See this Tutorial for instructions on how to use rviz interactive markers to control the arm.

Video

Requirements

arm.launch and simple_arm_server.launch from the turtlebot_arm_bringup package have to be running.

To start up the markers, run:

  • roslaunch turtlebot_arm_interactive_markers arm_markers.launch

Files

launch/arm_markers.launch

  • This launch file will bring up the interactive marker server.

Nodes

turtlebot_arm_marker_server

Hosts an interactive_markers server to let the user control the TurtleBot arm through rviz.

Published Topics

/<joint_name>/command (std_msgs/Float64)
  • For each joint indicated in the ~/joints parameter, this publishes to the joint's command topic for the joint control mode.

Services Called

/<joint_name>/relax (arbotix_msgs/Relax)
  • For each joint indicated in the ~/joints parameter, this calls a service to relax (unpower) a particular joint servo.

Parameters

~root_link (string, default: /arm_base_link)
  • The root link of the arm. This should be the bottom link of the arm.
~tip_link (string, default: /gripper_link)
  • The tip link of the arm. This should be the last joint before the gripper, and the gripper will be offset from here.
~move_time (double, default: 2.0)
  • The amount of time to request for the trajectory move, in seconds. Having this value be higher will make the motion slower but smoother.
~joints (list of strings)
  • The name of all the joints in the arm, including the gripper joint, for individual joint control.
~links (list of strings)
  • The name of all the links in the arm, including the gripper link, for individual joint control. These should be in the same order as the ~/joints parameter.
~gripper/marker_offset/x (double, default: 0.02)
  • In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.
~gripper/marker_offset/y (double, default: 0.025)
  • In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.
~gripper/marker_offset/z (double, default: 0.0)
  • In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.
~gripper/box_offset/x (double, default: -0.017)
  • In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.
~gripper/box_offset/y (double, default: -0.008)
  • In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.
~gripper/box_offset/z (double, default: 0.0)
  • In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.

Required tf Transforms

<root_link><tip_link>
  • This transform is necessary for visualizing the correct position of the arm marker.

Wiki: turtlebot_arm_interactive_markers (last edited 2011-11-14 22:30:46 by MeloneeWise)