<> <> == Package Organization == This package contains robot description and configuration files for Maxwell, organized into subdirectories as follows: * ''urdf/'' contains ([[xacro]] representations of) [[urdf]] descriptions of various parts of the Maxwell (arm, head, etc.), and the full robot. * ''meshes/'' contains mesh files (.stl) for visualization and collision properties * ''params/'' contains yaml specification files for the ArbotiX driver and diagnostics. * ''launch/'' contains [[roslaunch]] files for starting up Maxwell, on real hardware, or in simulation. * ''nodes/'' contains several python-based nodes, which currently have no home. == Starting Up Maxwell == To start Maxwell, use one of the following launch files: * ''bringup_maxwell.launch'' connects to real hardware. * ''head_camera.launch'' starts the Asus Xtion on Maxwell. * ''fake_maxwell.launch'' starts a simulated version of the ArbotiX node. This can be useful for testing arm code. == Interacting with Maxwell == === Moving the Base === The base uses a standard <> message on the ''cmd_vel'' topic to set desired velocity. === Moving the Arm === See [[maxwell_arm_navigation]] and [[maxwell_interactive_markers]]. === Accessing Sensor Information === || '''Sensor Data''' || '''Topic Name''' || || base: position || ''/odom'' and ''/tf'' || || camera: 2D color image || ''/camera/rgb/image'' || || camera: 2D grayscale image || ''/camera/rgb/image_mono'' || || camera: 3D point cloud || ''/camera/rgb/point'' || || joints: positions || ''/joint_states'' || Use of ''/camera/depth'' is not recommended as most of our demos will use the topics in the ''/camera/rgb'' namespace. ## AUTOGENERATED DON'T DELETE ## CategoryPackage