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Only released in EOL distros:  

ee_cart_imped: ee_cart_imped_action | ee_cart_imped_control | ee_cart_imped_launch | ee_cart_imped_msgs

Package Summary

An action server and interface for the ee_cart_imped_control package. The EECartImped Controller should always be accessed through this action.

ee_cart_imped: ee_cart_imped_action | ee_cart_imped_control | ee_cart_imped_launch | ee_cart_imped_msgs

Package Summary

An action server and interface for the ee_cart_imped_control package. The EECartImped Controller should always be accessed through this action.

Overview

The ee_cart_imped_action is a node that provides an action interface for the ee_cart_imped_control node. Specifically, it allows tracking trajectories that involve force control and sending goals and cancel signals to the controller. The action can also put constraints on the trajectory and aborts trajectory execution when the constraints are violated. All interaction with the ee_cart_imped_control package should be done through this action interface.

interface.png

The force/impedance controller is useful for many different tasks:

For more videos, look at the ee_cart_imped_control documentation.

ROS API

The ROS API consists of three parts: parameters, the action server, and an interface to the EECartImped Controller.

Parameters

Parameters

constraints/goal/time (double, default: 0.0) constraints/goal/ (geometry_msgs/Pose, default: -1.0 for all entries) constraints/goal/effort (double, default: -1.0) constraints/trajectory/ (geometry_msgs/Pose, default: -1.0 for all entries) constraints/trajectory/effort (double, default: -1.0)

Example configuration (from ee_cart_imped_control/pr2_arms_cart_imped_controller.yaml):

  r_arm_cart_imped_action_node:
    constraints:
      goal:
        time: 0.0
        position:
          x: 0.2
          y: 0.2
          z: 0.2
        orientation:
          x: 0.2
          y: 0.2
          z: 0.2
          w: 0.2
        effort: 0.002
      trajectory:
        effort: -1.0

Action Interface

The EECartImpedAction provides an action server that takes in goals of the type ee_cart_imped_msgs/EECartImpedActionGoal and publishes feedback of the type ee_cart_imped_msgs/EECartImpedActionFeedback.

Subscribed Topics

ee_cart_imped_action/goal (ee_cart_imped_msgs/EECartImpedActionGoal) ee_cart_imped_action/cancel (actionlib_msgs/GoalID)

Published Topics

ee_cart_imped_action/feedback (ee_cart_imped_msgs/EECartImpedActionFeedback) ee_cart_imped_action/status (actionlib_msgs/GoalStatusArray) ee_cart_imped_action/result (ee_cart_imped_msgs/EECartImpedActionResult)

Controller Interface

Subscribed Topics

state (ee_cart_imped_msgs/EECartImpedFeedback)

Published Topics

command (ee_cart_imped_msgs/EECartImpedGoal)

Usage

In general, interaction with the action server should take place through an action client. To facilitate this process, we have written C++ and python wrappers around the simple action client and included them in the package. To use the these clients, look at their code APIs (c++) (python) or the tutorials.


2019-06-15 12:39