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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 | 2024-05-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| jsk_aero_startup |
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 Robotics Stack Exchange
|
|
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 | 2024-05-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| jsk_aero_startup |
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 Robotics Stack Exchange
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