Only released in EOL distros:  

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

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

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

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)