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khi_robot_bringup package from khi_robot repo

khi_duaro_description khi_duaro_gazebo khi_duaro_ikfast_plugin khi_duaro_moveit_config khi_robot khi_robot_bringup khi_robot_control khi_robot_msgs khi_rs007l_moveit_config khi_rs007n_moveit_config khi_rs080n_moveit_config khi_rs_description khi_rs_gazebo khi_rs_ikfast_plugin

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Package Summary

Tags No category tags.
Version 1.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Kawasaki-Robotics/khi_robot.git
VCS Type git
VCS Version master
Last Updated 2019-05-15
Dev Status DEVELOPED
Released RELEASED

Package Description

Package contains bringup scripts/config/tools for KHI Robot

Additional Links

Maintainers

  • nakamichi_d

Authors

  • nakamichi_d
khi_robot_bringup/README.md

tra1_bringup

Quick start

ROS controller

Start ROS controllers

$ roslaunch tra1_bringup tra1_bringup.launch

This will publish and subscribe following topics.

$ rostopic list
/diagnostics
/joint_states
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status
/position_trajectory_controller/state
/rosout
/rosout_agg
/tf
/tf_static

If you add simulation argument, you can run ROS controller without motor drivers.

$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true

To get current joint status, subscribe /joint_states, type of sensor_msgs/JointState.

To control the robot joint, publish /position_trajectory_controller/follow_joint_trajectory/goal, with control_msgs/FollowJointTrajectoryActionGoal message.

joint_states

To observe current joint states, run

$ rostopic echo /joint_states

rqt_joint_trajectory_controller

To control the robot using GUI, run

$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

MoveIt

To control via MoveIt, run

$ roslaunch tra1_bringup tra1_moveit.launch
CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/duaro_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 4]
      • robot [default: WD002N]
  • launch/rs007n_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS007N]
  • launch/rs080n_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS080N]
  • launch/rs007l_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS007L]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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