Differences

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--- robocup:robotic_arm_controler_package [2016/02/22 13:04]
nfave
+++ robocup:robotic_arm_controler_package [2019/04/25 14:08] (current)
@@ Line 1: / Line 1: @@
 ====== Robotic_arm_controler (ROS package) ======
-{{tag> ROS ros_package}}
+{{tag> ROS ros_package software}}
 =====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=====
 This package was developed for the Indigo distro and is using the catkin package type.
@@ Line 14: / Line 17: @@
 =====Quick tests=====
-	rostopic pub -1 /arm_controler/new_coordinates geometry_msgs/Pose "{position:[10, 10, 10], 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:[X, Y, Z], orientation:[0, 0, 0, 0]}"
 =====API=====
 ====Subscribed topics====
@@ Line 28: / Line 43: @@
 /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
+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=====
   * There is an English error in the name