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schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

schunk_modular_robotics: schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors

Package Summary

This packages provides a configurable driver of a chain of Schunk powercubes. The powercube chain is configured through parameters. Most users will not directly interact with this package but with the corresponding launch files in other packages, e.g. schunk_bringup, cob_bringup, ...

Hardware Requirements

To use this package you need one or more powercubes www.schunk-modular-robotics.com. Alternatively you can use a simulated version without any hardware, see schunk_bringup_sim.

Software Requirements

The installation is tested for Ubuntu 14.04 using ROS indigo. If you discover problems installing them on other platforms, please tell us.

ROS API

The schunk_powercube_chain package provides a configurable node for operating a chain of powercube modules.

schunk_powercube_chain

The schunk_powercube_chain node takes in brics_actuator/JointVelocities messages and sends this directly to the hardware. The chain can be initialized, stopped or recovered via services.

Subscribed Topics

joint_group_velocity_controller/command (std_msgs/Float64MultiArray) joint_group_position_controller/command (std_msgs/Float64MultiArray)

Published Topics

/joint_states (sensor_msgs/JointState) joint_trajectory_controller/state (control_msgs/JointTrajectoryControllerState) driver/current_operationmode (std_msgs/String) /diagnostics (diagnostic_msgs/DiagnosticArray)

Services

driver/init (std_srvs/Trigger) driver/stop (std_srvs/Trigger) driver/recover (std_srvs/Trigger) driver/set_operation_mode (cob_srvs/SetString)

Parameters

can_module (string, default: Required) can_device (string, default: Required) can_baudrate (int, default: Required) module_ids (list of ints, default: Required) force_use_movevel (bool, default: false) joint_names (list of strings, default: Required) max_accelerations (list of doubles, default: Required) horizon (double, default: 0.05) frequency (double, default: 10 Hz) min_publish_duration (double, default: Required) /robot_description (urdf model, default: Required)

Usage/Examples

This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. schunk_bringup in the schunk_robots stack. For starting only the lwa use

roslaunch schunk_bringup lwa_solo.launch

For including the lwa in your overall launch file use

<include file="$(find schunk_bringup)/components/lwa.launch" />

All hardware configuration is done in the schunk_hardware_config package. A sample parameter file in "schunk_hardware_config/lwa/config/lwa.yaml" could look like this

can_module: PCAN
can_device: /dev/pcan1
can_baudrate: 1000
modul_ids: [1,2,3,4,5,6,7]
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
max_accelerations: [0.8,0.8,0.8,0.8,0.8,0.8,0.8]
frequency: 68
OperationMode: position
ptp_vel: 0.4 # rad/sec
ptp_acc: 0.1 # rad/sec^2
max_error: 0.2 # rad


2018-12-15 13:20