fake_joint_driver package from fake_joint repo

fake_joint fake_joint_driver fake_joint_launch

Package Summary

Tags No category tags.
Version 0.0.3
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 2018-08-30
Dev Status DEVELOPED
Released RELEASED

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

  • 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

0.0.3 (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

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

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Messages

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Services

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Plugins

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