|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Moving the torsoDescription: Moving the torso
Tutorial Level: BEGINNER
Next Tutorial: Teleoperation
Controlling the torso
This tutorial demonstrates how to move the robot's torso up and down. The torso can be controlled by sending std_msgs/Float64 messages to the torso_controller/command topic. Open a new terminal window, and type the following command:
$ roslaunch armadillo2 armadillo2.launch gazebo:=true
Gazebo window should appear with the robot model in it.
Note: Omit gazebo:=true argument if you want to control the torso of the real robot.
Open a new terminal window, and type the following command:
$ rostopic pub /torso_position_controller/command std_msgs/Float64 0.2
You should be able to see the robot's torso goes up. Press ctrl+c and the type:
$ rostopic pub /torso_position_controller/command std_msgs/Float64 0.07
You should be able to see the robot's torso goes down.
Note: Robot's torso elevator std_msgs/Float64 minimum value is 0.0, and maximum value is 0.4.