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Only released in EOL distros:  

scitos_metralabs: metralabs_msgs | metralabs_ros

Package Summary

ROS driver for the MetraLabs Scitos G5 mobile robot using the MetraLabs ABI. Optionally a Schunk manipulator can be controlled.

scitos_metralabs: metralabs_msgs | metralabs_ros

Package Summary

ROS driver for the MetraLabs Scitos G5 mobile robot using the MetraLabs ABI. Optionally a Schunk manipulator can be controlled.

Documentation

This package contains a driver that integrates MetraLabs Scitos G5 robots into ROS using MetraLabs' former MLRobotic libraries.

If your Scitos is newer and only runs "MIRA" try scitos_drivers or cognidrive_ros

Features

Feel free to ask for improvements or file issues.

Node API

ScitosServer node

The driver for the Scitos robot platform.

Subscribed Topics

/cmd_vel (geometry_msgs/Twist) /bumper_reset (std_msgs/Empty)

Published Topics

/odom (nav_msgs/Odometry) /bumper (invalid message type for MsgLink(msg/type)) /sonar (sensor_msgs/Range) /diagnostics (diagnostics_msgs/DiagnosticArray)

Parameters

~scitos_config_file (string, default: /opt/MetraLabs/MLRobotic/etc/config/SCITOS-G5_without_Head_config.xml) ~robot_arm_class (string, default: None)
Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~EBC0_Enable5V (bool, default: False) ~EBC0_Enable12V (bool, default: False) ~EBC0_Enable24V (bool, default: False) ~EBC1_Enable5V (bool, default: False) ~EBC1_Enable12V (bool, default: False) ~EBC1_Enable24V (bool, default: False) ~FreeRunMode (bool, default: False) ~SonarsActive (bool, default: False) ~StatusDisplayKnobLock (bool, default: False) ~StatusDisplayLED (bool, default: False)

Provided tf Transforms

base_linkodom base_linksonar_##

ScitosServer:manipulator

The manipulator part actually cannot be made a separate node. But it can be disabled if not needed and therefore this list is split.

Subscribed Topics

/joint_states (sensor_msgs/JointState) schunk/status (metralabs_msgs/SchunkStatus) schunk/emergency (std_msgs/Empty) schunk/stop (std_msgs/Empty) schunk/ack (std_msgs/Int8) schunk/ack_all (std_msgs/Empty) schunk/set_velocity (metralabs_msgs/IDAndFloat) schunk/set_acceleration (metralabs_msgs/IDAndFloat) schunk/set_current (metralabs_msgs/IDAndFloat) schunk/set_current_max_all (std_msgs/Empty) schunk/move_position (metralabs_msgs/IDAndFloat) schunk/move_velocity (metralabs_msgs/IDAndFloat) schunk/move_all_position (metralabs_msgs/IDAndFloat) schunk/move_all_velocity (metralabs_msgs/IDAndFloat) schunk/trajectory_command (trajectory_msgs/JointTrajectory) schunk/<follow_joint_trajectory_action_name> (control_msgs/FollowJointTrajectoryAction)

Published Topics

schunk/trajectory_state (control_msgs/JointTrajectoryControllerState)

Parameters

follow_joint_trajectory_action_name (string, default: follow_joint_trajectory)


2019-09-14 12:55