No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The aeroeus package

Additional Links

No additional links.

Maintainers

  • Yohei Kakiuchi

Authors

No additional authors.

aeroeus

This is EUSLISP interface to control aero.

Build aeroeus

catkin build aeroeus  # nothing to build, to recognize from rospack
source ~/.bashrc

Create eusmodel

rosrun euscollada collada2eus $(rospack find aero_description)/robots/aero.urdf $(rospack find aero_description)/robots/aero.yaml aero.l

Run euslisp

roseus
$ load "package://aeroeus/aero-interface.l"

To create aero model

(aero-robot)
(objects (list *aero*))

To initialize eus interface,

(aero-init)
(objects (list *aero*))

Then, you can control AERO from euslisp, like

(send *aero* :reset-pose)
(send *ri* :angle-vector (send *aero* :angle-vector) 5000)

Solving iverse kinematics

(setq target-coords (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :set-from-IK target-coords :arm {:larm :rarm :both-arm} :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Both arm manipulatrion

(setq rtgt (send *aero* :rarm :end-coords :copy-worldcoords))
(setq ltgt (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :inverse-kinematics (list rtgt ltgt) :ik-group :both-arm)
(send *aero* :set-from-IK (list rtgt ltgt) :arm :both-arm :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Getting end-effector

(send *aero* :ik-target :arm {:larm :rarm :both-arm} :name {:hand :grasp :pick :index :thumb })

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 pr2eus

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged aeroeus at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The aeroeus package

Additional Links

No additional links.

Maintainers

  • Yohei Kakiuchi

Authors

No additional authors.

aeroeus

This is EUSLISP interface to control aero.

Build aeroeus

catkin build aeroeus  # nothing to build, to recognize from rospack
source ~/.bashrc

Create eusmodel

rosrun euscollada collada2eus $(rospack find aero_description)/robots/aero.urdf $(rospack find aero_description)/robots/aero.yaml aero.l

Run euslisp

roseus
$ load "package://aeroeus/aero-interface.l"

To create aero model

(aero-robot)
(objects (list *aero*))

To initialize eus interface,

(aero-init)
(objects (list *aero*))

Then, you can control AERO from euslisp, like

(send *aero* :reset-pose)
(send *ri* :angle-vector (send *aero* :angle-vector) 5000)

Solving iverse kinematics

(setq target-coords (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :set-from-IK target-coords :arm {:larm :rarm :both-arm} :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Both arm manipulatrion

(setq rtgt (send *aero* :rarm :end-coords :copy-worldcoords))
(setq ltgt (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :inverse-kinematics (list rtgt ltgt) :ik-group :both-arm)
(send *aero* :set-from-IK (list rtgt ltgt) :arm :both-arm :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Getting end-effector

(send *aero* :ik-target :arm {:larm :rarm :both-arm} :name {:hand :grasp :pick :index :thumb })

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 pr2eus

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged aeroeus at answers.ros.org