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qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent description utilities for qbrobotics® devices.

qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent description utilities for qbrobotics® devices.

qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent description utilities for qbrobotics® devices.

This package is barely usable alone since it provides only templates to create more structured launch files in the derived packages (cf. qb_device_bringup).

Launch files

The two launch file templates come in help when loading the description package of a device. It could seem unlikely to split the two files (and actually they are often called sequentially), but it guarantees in a multi-device system to be able to load every single robot description in each device namespace (which is required to setup their control nodes) and to load the whole robot model complete with joint_state_publisher, robot_state_publisher and rviz only once.

Please, use these "macros" whenever is possible to improve robustness, readability and maintenance of derived packages.

load_description_template

This basic launch file just loads the urdf xml robot description in the robot_description ROS param by providing few configuration arguments.

Parameters

model_name (string) namespace (string) package_prefix (string)

state_publisher_template

This launch file starts the joint_state_publisher and the robot_state_publisher for the given robot_description loaded in the Parameter Server (under the current namespace). If specified also starts rviz.

Parameters

frequency (int, default: 100) package_prefix (string) rviz_config (string) source_list_names (string, default: [joint_states]) use_joint_state_gui (bool, default: false) use_rviz (bool, default: true)


2019-08-24 13:10