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Package Summary

Tags No category tags.
Version 1.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Kawasaki-Robotics/khi_robot.git
VCS Type git
VCS Version master
Last Updated 2019-05-16
Dev Status DEVELOPED
Released RELEASED

Package Description

Package contains bringup scripts/config/tools for KHI Robot

Additional Links

Maintainers

  • nakamichi_d

Authors

  • nakamichi_d

tra1_bringup

Quick start

ROS controller

Start ROS controllers

$ roslaunch tra1_bringup tra1_bringup.launch

This will publish and subscribe following topics.

$ rostopic list
/diagnostics
/joint_states
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status
/position_trajectory_controller/state
/rosout
/rosout_agg
/tf
/tf_static

If you add simulation argument, you can run ROS controller without motor drivers.

$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true

To get current joint status, subscribe /joint_states, type of sensor_msgs/JointState.

To control the robot joint, publish /position_trajectory_controller/follow_joint_trajectory/goal, with control_msgs/FollowJointTrajectoryActionGoal message.

joint_states

To observe current joint states, run

$ rostopic echo /joint_states

rqt_joint_trajectory_controller

To control the robot using GUI, run

$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller 

MoveIt

To control via MoveIt, run

$ roslaunch tra1_bringup tra1_moveit.launch

CHANGELOG

Changelog for package khi_robot_bringup

1.1.1 (2019-04-25)

1.1.0 (2019-04-11)

  • Merge pull request #10 from d-nakamichi/khi_prefix Prefix all pkgs with \'khi_\'
  • Convert rs_* to khi_rs_*
  • Convert duaro_* to khi_duaro_*
  • Contributors: Hiroki Matsui, nakamichi_d

1.0.0 (2019-03-28)

  • Refactoring
  • duAro IKFast
  • Contributors: matsui_hiro, nakamichi_daisuke

0.9.4 (2019-01-25)

0.9.3 (2019-01-21)

  • GitLab CI
  • Bugfix about rs setting files
  • Contributors: matsui_hiro, nakamichi_daisuke

0.9.2 (2018-12-27)

  • RESTART function
  • KHI Command service
  • duAro URDF modification
  • RS080N
  • Unifying RS series URDF/Gazebo into rs_description, rs_gazebo
  • Modification of ACTIVATING state
  • Modification of QUIT state
  • Modification of state definition
  • Changing start position \"ALL 0 degree\" to \"Current degree position\"
  • Contributors: matsui_hiro, nakamichi_daisuke

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/rs007n_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS007N]
  • launch/rs007l_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS007L]
  • launch/rs080n_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 2]
      • robot [default: RS080N]
  • launch/duaro_bringup.launch
      • debug [default: false]
      • simulation [default: false]
      • viewer [default: false]
      • ip [default: 192.168.0.2]
      • period [default: 4]
      • robot [default: WD002N]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged khi_robot_bringup at answers.ros.org

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