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fake_joint_driver package from fake_joint repo

fake_joint fake_joint_driver fake_joint_launch

Package Summary

Tags No category tags.
Version 0.0.4
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/fake_joint.git
VCS Type git
VCS Version master
Last Updated 2023-01-26
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fake_joint_driver package

Additional Links

Maintainers

  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team

Authors

  • Ryosuke Tajima

fake_joint_driver

This package contains a node to provide hardware_interface::PositionJointInterface, which simply loopback the command joint position to the actual position. In other words, it is faking a perfect joint controller. It can be used from ros_controllers such as JointTrajectoryController. You can check your own joint trajectories on rviz, without using Gazebo or others.

Screenshot

Quick start

launch the nodes

On one terminal, do:

$ roslaunch fake_joint_driver fake-joint-driver.test

This launch file does:

  1. Loading robot description of simple 3-DOF arm in robot/arm3.urdf.xacro
  2. Launching fake_joint_driver_node and robot_state_publisher
  3. Launching controller manager to spawn ros_controllers (joint_state_controller and joint_trajecotry_controller)

See the robot in rviz

On another terminal, do:

$ rviz

Add robot model to see the robot.

Set trajectory with rqt_joint_trajectory_controller

On another terminal, do:

$ rqt

Choose Plugins->Robot tools->Joint trajectory controller to load the plugin. Select controller manager and controller, then you can see sliders to set the joint trajectory goals.

Parameters

  • main_loop_rate

The internal loop rate at which the robot controls are updated. This rate is a hard limit for joint state publishers. The default value is set to 100 Hz.

  • use_robot_description

When it is true, the driver read the parameter /robot_description to obtain the joint list to control by this driver. When it is false, you must specify the joint list by include_joints parameters.

  • include_joints

This is the list of the joints which the driver node should control.

  • exclude_joints

This is the list of the joints which the driver node should not control.

  • start_position

This is a map to specify the initial position of the joint. You can use this to avoid collision in zero joint angle.

Use like:

  <!-- fake_joint_driver_node -->
  <node name="fake_joint_driver" pkg="fake_joint_driver" type="fake_joint_driver_node">
    <!-- Set joint start position -->
    <rosparam param="start_position">{LARM_JOINT2: -1.7, RARM_JOINT2: -1.7}</rosparam>
  </node>

Caution

You can set target joints for joint_trajectory_controller in the config/controllers.yaml. Note somehow you cannot see any controllers and joints in rqt_joint_trajectory_controller if any joints have no joint position limits in URDF file. It is easy to be trapped.

CHANGELOG

Changelog for package fake_joint_driver

0.0.4 (2019-12-18)

0.0.3 (2018-08-31)

  • Add start_position parameter(#3)
  • 0.0.2
  • Add fake_joint meta-package
  • Contributors: Ryosuke Tajima

0.0.1 (2018-08-16)

  • Add copyright to source files
  • Eliminate xacro warning
  • Add README and image
  • Add vs060 settings
  • Add travis badge
  • Add launch and re-organize the package
  • Contributors: Ryosuke Tajima

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fake_joint_driver at Robotics Stack Exchange

fake_joint_driver package from fake_joint repo

fake_joint fake_joint_driver fake_joint_launch

Package Summary

Tags No category tags.
Version 0.0.4
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/fake_joint.git
VCS Type git
VCS Version master
Last Updated 2023-01-26
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The fake_joint_driver package

Additional Links

Maintainers

  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team

Authors

  • Ryosuke Tajima

fake_joint_driver

This package contains a node to provide hardware_interface::PositionJointInterface, which simply loopback the command joint position to the actual position. In other words, it is faking a perfect joint controller. It can be used from ros_controllers such as JointTrajectoryController. You can check your own joint trajectories on rviz, without using Gazebo or others.

Screenshot

Quick start

launch the nodes

On one terminal, do:

$ roslaunch fake_joint_driver fake-joint-driver.test

This launch file does:

  1. Loading robot description of simple 3-DOF arm in robot/arm3.urdf.xacro
  2. Launching fake_joint_driver_node and robot_state_publisher
  3. Launching controller manager to spawn ros_controllers (joint_state_controller and joint_trajecotry_controller)

See the robot in rviz

On another terminal, do:

$ rviz

Add robot model to see the robot.

Set trajectory with rqt_joint_trajectory_controller

On another terminal, do:

$ rqt

Choose Plugins->Robot tools->Joint trajectory controller to load the plugin. Select controller manager and controller, then you can see sliders to set the joint trajectory goals.

Parameters

  • main_loop_rate

The internal loop rate at which the robot controls are updated. This rate is a hard limit for joint state publishers. The default value is set to 100 Hz.

  • use_robot_description

When it is true, the driver read the parameter /robot_description to obtain the joint list to control by this driver. When it is false, you must specify the joint list by include_joints parameters.

  • include_joints

This is the list of the joints which the driver node should control.

  • exclude_joints

This is the list of the joints which the driver node should not control.

  • start_position

This is a map to specify the initial position of the joint. You can use this to avoid collision in zero joint angle.

Use like:

  <!-- fake_joint_driver_node -->
  <node name="fake_joint_driver" pkg="fake_joint_driver" type="fake_joint_driver_node">
    <!-- Set joint start position -->
    <rosparam param="start_position">{LARM_JOINT2: -1.7, RARM_JOINT2: -1.7}</rosparam>
  </node>

Caution

You can set target joints for joint_trajectory_controller in the config/controllers.yaml. Note somehow you cannot see any controllers and joints in rqt_joint_trajectory_controller if any joints have no joint position limits in URDF file. It is easy to be trapped.

CHANGELOG

Changelog for package fake_joint_driver

0.0.4 (2019-12-18)

0.0.3 (2018-08-31)

  • Add start_position parameter(#3)
  • 0.0.2
  • Add fake_joint meta-package
  • Contributors: Ryosuke Tajima

0.0.1 (2018-08-16)

  • Add copyright to source files
  • Eliminate xacro warning
  • Add README and image
  • Add vs060 settings
  • Add travis badge
  • Add launch and re-organize the package
  • Contributors: Ryosuke Tajima

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fake_joint_driver at Robotics Stack Exchange