Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
robocup:robotic_arm_controler_package [2016/02/22 12:26]
nfave
robocup:robotic_arm_controler_package [2017/03/31 11:50]
mai ↷ Links adapted because of a move operation
Line 1: Line 1:
 ====== 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 [[objects_detection package]] and the user. It also possesses a launch file that launch all these packages.+This package do the link between [[robocup:​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. This package was developed for the Indigo distro and is using the catkin package type.
Line 8: Line 11:
 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 ​ 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  catkin_make
- 
  
 {{:​robotique_arm_control.tar.gz|}} {{:​robotique_arm_control.tar.gz|}}
Line 15: Line 17:
  
 =====Quick tests===== =====Quick tests=====
- rostopic pub -1 /​arm_controler/​new_coordinates geometry_msgs/​Pose "​{position:​[101010], orientation:​[0,​ 0, 0, 0]}"+ 
 +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:​[XYZ], orientation:​[0,​ 0, 0, 0]}" 
 =====API===== =====API=====
 +====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 [[robocup:​robotic_arm_package]],​ giving the position of the object and then the target position
 =====Bug reports and feature requests===== =====Bug reports and feature requests=====
   * There is an English error in the name   * There is an English error in the name
  • robocup/robotic_arm_controler_package.txt
  • Last modified: 2019/04/25 14:08
  • (external edit)