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vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

Contents

  1. Manipulator

Manipulator

The manipulator handler looks for a manipulator tag and it finds all its joints. After it creates a ROS publisher of sensor_msgs/JointState messages:

  • the position of the joints
  • the velocity of the joints
  • the effort that is applied in the joints

In addition it gives us the possibility to control the joints using commands from ROS in several ways (see here for more details):

  • In position (passive mode, no dynamic simulation: the links will be static)
    sim_ext_ros_bridge_manipulator_ctrl_mode_Passive_mode
  • In motion mode (DEPRECATED, not working from V-REP V3.2.2. Please use the mode in velocity instead)
    sim_ext_ros_bridge_manipulator_ctrl_mode_MOT_velocity
  • In velocity (passive mode, no dynamic simulation: the links will be static)
    sim_ext_ros_bridge_manipulator_ctrl_mode_Passive_mode_velocity
  • In torque/force mode (the links will be dynamically simulated, see here):

    • Position (PID controller)
      sim_ext_ros_bridge_manipulator_ctrl_mode_TF_position
    • Velocity
      sim_ext_ros_bridge_manipulator_ctrl_mode_TF_velocity
    • Force and torque
      sim_ext_ros_bridge_manipulator_ctrl_mode_TF_effort

You can use the function "simExtSetFloatCustomDataFromHeader()" to set the control mode you prefer.

  • If you will not set anything the joint will be in controlled in the mode "position (fixed joint)" as default.
  • If you set in the child script of the root of the manipulator a given control mode, all the joints will be controlled in that way.
  • In addition if you want to control some joints in a different way with respect the general mode you have defined, you can do it. Just add a child script to the joint and use the function "simExtSetFloatCustomDataFromHeader()" to set the control mode you prefer.

In the folder vrep_ros_brigde/SceneVrep you will find the model of a manipulator with the joints controlled in velocity: ManipulatorViper.ttt.

Wiki: manipulator_handler (last edited 2015-10-21 20:43:14 by GvdHoorn)