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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 |
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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 |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- 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/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/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/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.
- 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/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- 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/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/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.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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|
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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 |
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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 |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- 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/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/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.
- 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/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- 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/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.
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 |
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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 |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- 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/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/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/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.
- 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/load_robot_model.launch
-
- kinematic_config [default: arm_v2] — Robot model
- 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/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/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.
Messages
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Services
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Plugins
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