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Nodes

revel_driver

The revel driver is responsible for communicating and interfacing between the motors and ROS. The driver can be run in several modes, including position, velocity and gravity control mode. Use cases for these modes are trajectory playback, cartesian velocity and kinesthetic teaching respectively.

Subscribed Topics

/joint_states (sensor_msgs/JointState)

Published Topics

/revel/motor_state (svenzva_msgs/MotorStateList) /svenzva_joint_action/ (svenzva_msgs/SvenzvaJointAction) /revel/follow_joint_trajectory (control_msgs/FollowJointTrajectoryAction) /revel/gripper_action/ (svenzva_msgs/GripperAction)

Services

/home_arm_service (svenzva_msgs/HomeArmService) /revel/SetTorqueEnable (svenzva_msgs/SetTorqueEnable) /revel/gripper/insert_finger (svenzva_msgs/HomeArmService)

Parameters

~data_frequency (int, default: 50) ~mode (str, default: user_defined (position control))

revel_dynamic_model

The revel dynamic model uses the current position of the robot along with an internal model of the arms dynamics to estimate the amount of force required to hold the arm up at that position against gravity. This module is required for gravity mode.

Subscribed Topics

/joint_states (sensor_msgs/JointState)

Published Topics

/revel/model_efforts (sensor_msgs/JointState)


2019-10-12 13:10