Contents
Description
This package contains yaml files and launch files for the laser, camera and arm of the Wubble robot. All motor ids and angles (in motor ticks) are specific to the hardware on the Wubble robot. If you are using the Wubble robot, you should not have to re-configure any of the parameters in yaml files in this package. All yaml files are used by ax12_controller_core package's controller_manager.py to setup topics and services which can be used to control motors. The launch files provided will place the appropriate yaml file on the param server and load the correct controller(s).
Supported Hardware
All controllers created by these yaml files are specific to our Wubble Robot and they assume Dynamixel AX12+ servos.
AX-12 Robot Servo
ROS API
arm.yaml
The Wubble arm.yaml configuration file contains all the parameters needed by ax12_controller_core package's controller_manager.py. For complete Publisher/Subscriber and Parameter information please see smart_arm_controller documentation.head_pan_tilt.yaml
Two Dynamixel AX-12+ servos (pan and tilt joints) can be controlled with a pan and tilt angle in (float) radians.Subscribed Topics
head_pan_controller/command (std_msgs/Float64)- Subscribes to this topic for new commands. A command tells the head_pan_joint to go to the specified angle in radians.
- Subscribes to this topic for new commands. A command tells the head_tilt_joint to go to the specified angle in radians.
- Subscribes to this topic to get the raw servo feedback from the low-level driver.
Published Topics
head_pan_tilt_controller/state (ua_controller_msgs/JointStateList)- Joint state data from the AX-12+ servos.
laser_tilt.yaml
One Dynamixel AX-12+ servo creates this joint and it can be controlled with a tilt angle in (float) radians, and the number of cycles.Subscribed Topics
laser_tilt_controller/command (std_msgs/Float64)- Subscribes to this topic for new commands. A command tells the laser_tilt_joint to go to the specified angle in radians.
- Subscribes to this topic to get the raw servo feedback from the low-level driver.
Published Topics
laser_tilt_controller/state (ua_controller_msgs/JointStateList)- Joint state data from the AX-12+ servos.
