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Writing a Joint Space controller

  1. Writing a realtime joint controller

    このチュートリアルはあなたに ja/pr2_controller_managerのリアルタイムループで実行されることができるJointスペースコントローラーを書く方法を教えます

  2. Running a realtime joint controller

    このチュートリアルはあなたに既存のJoint空間コントローラーのコンフィギュレーションを設定して、実行する方法を教えます

  3. Writing a realtime joint controller

    This tutorial teaches you how to write a joint space controller that can be executed in the realtime loop of pr2_controller_manager

  4. Running a realtime joint controller

    This tutorial teaches you how to configure and run an existing joint space controller

Adding features to a Joint Space controller

  1. Communicating with a realtime joint controller

    This tutorial teaches you how to communicate with a controller over ROS.

  2. Communicating with a realtime joint controller

    このチュートリアルはあなたにROSの上にコントローラーとコミュニケートする方法を教えます。

  3. Adding a PID to a realtime joint controller

    このチュートリアルはあなたにリアルタイムJointコントローラーにPIDオブジェクトを加える方法を教えます

  4. Adding a PID to a realtime joint controller

    This tutorial teaches you how to add a PID object to a realtime joint controller

Debugging and tuning a controller

  1. Capturing data from a controller

    このチュートリアルはあなたにデータをコントローラーにストアして、そしてオフラインのビューイング、デバッギングとチューニングのためにそれを抽出する方法を教えます。

  2. Capturing data from a controller

    This tutorial teaches you how to store data in a controller and extract it for offline viewing, debugging, and tuning.

  3. Plotting controller data in matlab or octave

    This tutorial teaches you how to visualize the captured state of a controller in matlab or octave.

  4. Plotting controller data in matlab or octave

    This tutorial teaches you how to visualize the captured state of a controller in matlab or octave.

Writing a Cartesian Space controller

  1. Implementing a realtime Cartesian controller

    This tutorial teaches you how to control a robot in Cartesian space

  2. Implementing a realtime Cartesian controller

    This tutorial teaches you how to control a robot in Cartesian space

  3. Coding a realtime Cartesian controller with KDL

    This tutorial gives example code for a realtime Cartesian controller using KDL

  4. Coding a realtime Cartesian controller with Eigen

    This tutorial gives example code for a realtime Cartesian controller using KDL and Eigen

  5. Writing a realtime Cartesian controller

    This tutorial teaches you how to control a robot in Cartesian space

  6. Running a realtime Cartesian controller

    This tutorial teaches you how to configure and run an existing Cartesian space controller

Video Tutorials

Moving the Base (pt 1)

Moving the Base (pt 2)

Moving the Torso and Gripper

Moving the Head

Moving the Arms

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2019-12-07 12:57