ROS IndexNo version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.
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|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
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qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-kinetic |
| Last Updated | 2021-08-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.0 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-melodic |
| Last Updated | 2022-07-06 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
3.0.0 (2022-07-06)
- Modified .xacro files in order to fit new xacro package version. This commint is suitable with xacro version 1.13.15 -- see https://github.com/ros/xacro/commit/7b5c20907375400cf4db6993a13238e86b38acf3 for more details.
2.2.3 (2021-11-05)
- changed ee limits in .yaml file
- Changed delta limits
2.2.2 (2021-08-30)
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/5dof_chain_control.launch
-
- control_duration [default: 0.02] — The duration of the control loop [s].
- robot_hardware [default: [cube1, cube2, cube3, cube4, cube5]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: 5dof_chain_hand] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/5dof_chain_hand_control.launch
-
- control_duration [default: 0.02] — The duration of the control loop [s].
- robot_hardware [default: [cube1, cube2, cube3, cube4, cube5, hand10]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: 5dof_chain_hand] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged qb_chain_control at Robotics Stack Exchange
|
|
qb_chain_control package from qb_chain repoqb_chain qb_chain_control qb_chain_controllers qb_chain_description qb_chain_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.0 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/qbrobotics/qbchain-ros.git |
| VCS Type | git |
| VCS Version | production-noetic |
| Last Updated | 2022-07-06 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
This package contains the ROS node to control multiple qbrobotics® devices simultaneously.
Additional Links
Maintainers
- Alessandro Tondo
Authors
- qbrobotics®
README
No README found.
See repository README.
CHANGELOG
Changelog for package qb_chain_control
3.0.0 (2022-07-06)
- Modified .xacro files in order to fit new xacro package version. This commint is suitable with xacro version 1.13.15 -- see https://github.com/ros/xacro/commit/7b5c20907375400cf4db6993a13238e86b38acf3 for more details.
2.2.3 (2021-11-05)
- changed ee limits in .yaml file
- Changed delta limits
2.2.2 (2021-08-30)
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Modified control frequency for RPi4
- Fixed joint limits and default robot movement.
- Add Gazebo SoftHand and SoftHand 2 Motors plugin skeletons
- Set a better name for fake joint simulation variables
- Fix cmake resource installation
- removed wrong commented parts
- qb_control_chain finds automatically the IP address
- Fix launch
- Add Gazebo support for kinematic chains
- modified shell script for qb control(IP address)
- Add joint limits configuration for robot configs
- Removed files for old configuration. Added scripts for waypoints. Added script to interact with qb control.
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Fix a .launch name and created a new one for loading URDFs when controlling remotely the qb chain.
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Add a launch file in qb_chain_control/launch in order to load 'robot description'
2.1.1 (2019-06-11)
2.1.0 (2019-05-28)
- Update demo points and launch settings
- Add a simulator mode to debug joint trajectories
- Fix default control duration of launch files
- Add delta controller
2.0.2 (2018-08-09)
2.0.1 (2018-08-07)
- Set safer default values
2.0.0 (2018-06-01)
- Refactor xacro models and relative launch files
1.0.4 (2017-11-24)
1.0.3 (2017-06-23)
- Update cmake version to match Kinetic standards
1.0.2 (2017-06-21)
- fix cmake settings to solve isolated builds
1.0.1 (2017-06-19)
- first public release for Kinetic
Launch files
- launch/4dof_chain_async_control.launch
-
- control_duration [default: 0.005] — The duration of the control loop [s].
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/5dof_chain_control.launch
-
- control_duration [default: 0.02] — The duration of the control loop [s].
- robot_hardware [default: [cube1, cube2, cube3, cube4, cube5]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: 5dof_chain_hand] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/5dof_chain_hand_control.launch
-
- control_duration [default: 0.02] — The duration of the control loop [s].
- robot_hardware [default: [cube1, cube2, cube3, cube4, cube5, hand10]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: 5dof_chain_hand] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: false] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm1_qbmove_1, arm1_qbmove_2, arm1_qbmove_3, arm1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm2_qbmove_1, arm2_qbmove_2, arm2_qbmove_3, arm2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v1_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v1_qbmove_1, arm_v1_qbmove_2, arm_v1_qbmove_3, arm_v1_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v1] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/arm_v2_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [arm_v2_qbmove_1, arm_v2_qbmove_2, arm_v2_qbmove_3, arm_v2_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbarm_v2] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/delta_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [delta_qbmove_1, delta_qbmove_2, delta_qbmove_3, delta_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbdelta] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
- launch/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- launch/wrist_control.launch
-
- control_duration [default: 0.01] — The duration of the control loop [s].
- robot_hardware [default: [wrist_qbmove_1, wrist_qbmove_2, wrist_qbmove_3, wrist_qbmove_4]] — The robot hardware interface namespaces, e.g. [device1, device2, ...].
- robot_name [default: qbwrist] — The unique robot namespace.
- robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
- robot_package [default: qb_chain] — The base package name prefix for the robot configurations [urdf, rviz, ...].
- source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
- get_currents [default: false] — Choose whether or not to retrieve current measurements from the device.
- get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
- get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
- max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
- set_commands [default: true] — Choose whether or not to send command positions to the device.
- set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
- activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
- rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
- standalone [default: false] — Choose whether or not to start the Communication Handler.
- use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
- use_rviz [default: true] — Choose whether or not to use rviz.
- use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
- use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
- use_joint_limits [default: true] — Choose whether or not to use the robot joint limits.
- use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
- use_waypoints [default: false] — Choose whether or not to use the waypoint references.
Messages
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Services
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Plugins
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