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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

pick

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State) open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State) ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition) open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose) open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition) open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick) open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick)

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3) /marker_id (int, default: 8) /offset_for_object_height (float, default: 0.150) /dist_ar_marker_to_object (float, default: 0.049)

place

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State) open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State) ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition) open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose) open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition) open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place) open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place)

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3) /marker_id (int, default: 8) /offset_for_object_height (float, default: 0.200) /dist_ar_marker_to_object (float, default: 0.070)

controller_for_pick_and_place

Subscribed Topics

open_manipulator/node_control_trigger (std_msgs/String) move_base/result (move_base_msgs/MoveBaseActionResult) ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers) odom (nav_msgs/Odometry)

Published Topics

/cmd_vel (geometry_msgs/Twist)

Services

open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick) open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place) open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick) open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place)

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3) /marker_id (int, default: 8) /distance_btw_base_to_ar_marker (float, default: 0.170) /rotate_after_pick_up (float, default: 175.0) /position_x_in_front_up_an_object (float, default: -1.393) /position_y_in_front_up_an_object (float, default: 3.545) /position_z_in_front_up_an_object (float, default: 0.0) /orientation_w_in_front_up_an_object (float, default: 0.705) /orientation_x_in_front_up_an_object (float, default: 0.0) /orientation_y_in_front_up_an_object (float, default: 0.0) /orientation_z_in_front_up_an_object (float, default: 0.709) /position_x_in_front_up_a_box (float, default: 0.760) /position_y_in_front_up_a_box (float, default: 3.670) /position_z_in_front_up_a_box (float, default: 0.0) /orientation_w_in_front_up_a_box (float, default: 0.705) /orientation_x_in_front_up_a_box (float, default: 0.0) /orientation_y_in_front_up_a_box (float, default: 0.0) /orientation_z_in_front_up_a_box (float, default: 0.709)

2019-10-12 12:53