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Laser Scanner Trajectory Controller

Introduction

This controller allows you to send periodic/repeating command to the tilting laser on the PR2

ROS API

Parameters

joint (string, default: Required) gains/p (double, default: Required) gains/d (double, default: 0.0) gains/i (double, default: 0.0) gains/i_clamp (double, default: 0.0) velocity_filter (Filter Chain, default: Required) max_velocity (double, default: Required) max_acceleration (double, default: Required)

Example Configuration:

laser_tilt_controller:
  type: LaserScannerTrajController
  joint: laser_tilt_mount_joint
  gains:
    p: 8.0
    i: 0.1
    d: 0.2
    i_clamp: 0.5
  velocity_filter:
    - name: low_pass
      type: TransferFunctionFilterDouble
      params:
        a: [1.0, -0.1]
        b: [0.9]
  max_velocity:    100
  max_acceleration: 30

Published Topics

<name>/laser_scanner_signal (pr2_msgs/LaserScannerSignal)

Subscribed Topics

<name>/set_periodic_cmd (pr2_msgs/PeriodicCmd) <name>/set_traj_cmd (pr2_msgs/LaserTrajCmd)

Services

<name>/set_periodic_cmd (pr2_msgs/SetPeriodicCmd) <name>/set_traj_cmd (pr2_msgs/SetLaserTrajCmd)

Usage example

rosservice call laser_tilt_controller/set_periodic_cmd '{ command: { header: { stamp: 0 }, profile: "linear" , period: 3 , amplitude: 1 , offset: 0 }}'

2019-07-20 13:03