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robocup:robotic_arm_controler_package [2016/02/22 08:18] nfave |
robocup:robotic_arm_controler_package [2017/03/31 11:49] mai ↷ Page moved from robobcup:robotic_arm_controler_package to robocup:robotic_arm_controler_package |
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====== Robotic_arm_controler (ROS package) ====== | ====== Robotic_arm_controler (ROS package) ====== | ||
- | {{tag> ROS ros_package}} | + | {{tag> ROS ros_package software}} |
=====Overview===== | =====Overview===== | ||
+ | This package do the link between [[robotic_arm package ]], the [[robocup:objects_detection_package]] and the user. It also possesses a launch file that launch all these packages. | ||
+ | |||
+ | When this package receive a target position (/arm_controler/new_coordinates), it will move the object on the last position known to the new position | ||
+ | |||
=====Installation===== | =====Installation===== | ||
+ | This package was developed for the Indigo distro and is using the catkin package type. | ||
+ | |||
+ | To install it, you just have to download the following archives and extract it in .../catkin_ws/src, then open a console, go to catkin_ws and enter the command | ||
+ | catkin_make | ||
+ | |||
{{:robotique_arm_control.tar.gz|}} | {{:robotique_arm_control.tar.gz|}} | ||
+ | |||
+ | You will also need to install the others packages in order to use all the features. | ||
+ | |||
=====Quick tests===== | =====Quick tests===== | ||
+ | |||
+ | Open a console and enter the command : | ||
+ | |||
+ | rosrun robotique_arm_controler robotique_arm_controler | ||
+ | |||
+ | If you have installed all package of the robotic arm and the oject detection, you can instead enter this command | ||
+ | |||
+ | roslaunch robotique_arm_controler robotic_arm.launch | ||
+ | |||
+ | In both case, you will need to enter this command in another console in order to send the command to the arm : | ||
+ | |||
+ | rostopic pub -1 /arm_controler/new_coordinates geometry_msgs/Pose "{position:[X, Y, Z], orientation:[0, 0, 0, 0]}" | ||
+ | |||
=====API===== | =====API===== | ||
- | =====Bug reports and feature requests===== | + | ====Subscribed topics==== |
+ | /object_detection/red_objects_position (geometry_msgs/PoseArray) | ||
+ | This topic will send the position of the object detected (currently only the red object are detected and only the first object is used by robotic_arm_controler). | ||
+ | |||
+ | /arm_controler/new_coordinates (geometry_msgs/Pose) | ||
+ | |||
+ | This topic is used to send the position where the object must be move. | ||
+ | |||
+ | ====Published topics==== | ||
+ | /arm_controler/arm_command (geometry_msgs::PoseArray) | ||
+ | |||
+ | This is the result of the other two topics, it is the command for the [[robotic_arm package]], giving the position of the object and then the target position | ||
+ | =====Bug reports and feature requests===== | ||
+ | * There is an English error in the name |