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open_manipulator: open_manipulator_control_gui | open_manipulator_controller | open_manipulator_description | open_manipulator_libs | open_manipulator_moveit | open_manipulator_teleop

Package Summary

OpenManipulator controller package

open_manipulator: open_manipulator_control_gui | open_manipulator_controller | open_manipulator_description | open_manipulator_libs | open_manipulator_moveit | open_manipulator_teleop

Package Summary

OpenManipulator controller package

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

open_manipulator_controller

This node is used to control !OpenMANIPULATOR-X.

Subscribed Topics

option (std_msgs/String) /move_group/display_planned_path (moveit_msgs/DisplayTrajectory) /move_group/goal (moveit_msgs/MoveGroup) /execute_trajectory/goal (moveit_msgs/ExecuteTrajectory)

Published Topics

states (open_manipulator_msgs/OpenManipulatorState) tool_name/kinematics_pose (open_manipulator_msgs/KinematicsPose) joint_states (sensor_msgs/JointState) joint_name_position/command (std_msgs/Float64) rviz/moveit/update_start_state (std_msgs/Empty)

Services

goal_joint_space_path (open_manipulator_msgs/SetJointPosition) goal_joint_space_path_to_kinematics_pose (open_manipulator_msgs/SetKinematicsPose) goal_joint_space_path_to_kinematics_position (open_manipulator_msgs/SetKinematicsPose) goal_joint_space_path_to_kinematics_orientation (open_manipulator_msgs/SetKinematicsPose) goal_task_space_path (open_manipulator_msgs/SetKinematicsPose) goal_task_space_path_position_only (open_manipulator_msgs/SetKinematicsPose) goal_task_space_path_orientation_only (open_manipulator_msgs/SetKinematicsPose) goal_joint_space_path_from_present (open_manipulator_msgs/SetJointPosition) goal_task_space_path_from_present (open_manipulator_msgs/SetKinematicsPose) goal_task_space_path_from_present_position_only (open_manipulator_msgs/SetKinematicsPose) goal_task_space_path_from_present_orientation_only (open_manipulator_msgs/SetKinematicsPose) goal_tool_control (open_manipulator_msgs/SetJointPosition) set_actuator_state (open_manipulator_msgs/SetActuatorState) goal_drawing_trajectory (open_manipulator_msgs/SetDrawingTrajectory) moveit/get_joint_position (open_manipulator_msgs/GetJointPosition) moveit/get_kinematics_pose (open_manipulator_msgs/GetKinematicsPose) moveit/set_joint_position (open_manipulator_msgs/SetJointPosition) moveit/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)

Parameters

use_robot_name (std::string, default: open_manipulator) dynamixel_usb_port (std::string, default: /dev/ttyUSB0) dynamixel_baud_rate (std::string, default: 1000000) control_period (std::string, default: 0.010) use_platform (std::string, default: true) use_moveit (std::string, default: false) planning_group_name (std::string, default: arm) moveit_sample_duration (std::string, default: 0.050)

2019-12-14 12:53