[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

ROS API

The cob_head_axis package provides a configurable node for operating the axis of the head.

cob_head_axis

The cob_head_axis node takes in trajectory_msgs/JointTrajectory messages and send this directly to the hardware. The joint states can be received by topics and the axis can be initialized, stopped or recovered via services.

Action Result

joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)

Action Feedback

joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)

Subscribed Topics

command (trajectory_msgs/JointTrajectory)

Published Topics

/joint_states (sensor_msgs/JointState) /diagnostics (diagnostic_msgs/DiagnosticArray)

Services

init (cob_srvs/Trigger) stop (cob_srvs/Trigger) recover (cob_srvs/Trigger) set_operation_mode (cob_srvs/Trigger) set_default_vel (cob_srvs/SetDefaultVel)

Parameters

~CanDevice (string, default: Required) ~CanBaudrate (int, default: Required) ~ModId (int, default: Required) ~JointName (String, default: Required) ~HomingDir (int, default: Required) ~HomingDirIn (int, default: Required) ~GearRatio (double, default: Required) ~EnoderIncrementsPerRevMot (int, default: Required) ~operation_mode (string, default: Required)

Usage

All hardware configuration is done in the cob_hardware_config package. A sample parameter file in "cob_hardware_config/cob3-3/config/head.yaml" could look like this

CanDevice: PCAN:0
CanBaudrate: 500
ModId: 17
JointName: head_axis_joint
HomingDir: 1
MotorDirection: 1
HomingDigIn: 9
GearRatio: 62.5
EnoderIncrementsPerRevMot: 2000
operation_mode: position


2019-12-07 12:31