Contents
ROS API
The cob_head_axis package provides a configurable node for operating the axis of the head.
cob_head_axis
The cob_head_axis node takes in trajectory_msgs/JointTrajectory messages and send this directly to the hardware. The joint states can be received by topics and the axis can be initialized, stopped or recovered via services.Action Result
joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)- -
Action Feedback
joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)- -
Subscribed Topics
command (trajectory_msgs/JointTrajectory)- Receives direct commands.
Published Topics
/joint_states (sensor_msgs/JointState)- Publishes the joint states of all modules.
- Publishes the diagnostic information about the state of the robot.
Services
init (cob_srvs/Trigger)- Initializes the node and connects to the hardware.
- Stops immediately all hardware movements.
- Recovers the hardware after an emergency stop.
- Sets the operation mode for the node.
- Sets the default velocity.
Parameters
~CanDevice (string, default: Required)- Can module specifier, e.g. PCAN, ESD
- Baudrate of can module, e.g. 1000, 500,...
- Modul ID
- The name of the joint in the robot description of the axis
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Usage
All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/head.yaml" could look like this
CanDevice: PCAN:0 CanBaudrate: 500 ModId: 17 JointName: head_axis_joint HomingDir: 1 MotorDirection: 1 HomingDigIn: 9 GearRatio: 62.5 EnoderIncrementsPerRevMot: 2000 operation_mode: position