tra1_bringup

Quick start

ROS controller

Start ROS controllers

$ roslaunch tra1_bringup tra1_bringup.launch

This will publish and subscribe following topics.

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

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

$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true

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

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

joint_states

To observe current joint states, run

$ rostopic echo /joint_states

rqt_joint_trajectory_controller

To control the robot using GUI, run

$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller 

MoveIt

To control via MoveIt, run

$ roslaunch tra1_bringup tra1_moveit.launch

Changelog for package tra1_bringup

1.0.10 (2018-04-28)

1.0.9 (2018-03-02)

• Set home_encoder_offset zero as default
• Onsite fix for encoder offset
• Contributors: Ryosuke Tajima

1.0.8 (2017-11-28)

• Add parameter home_encoder_offset (#63)
• Contributors: Ryosuke Tajima

1.0.6 (2017-09-12)

1.0.5 (2017-09-12)

1.0.4 (2017-09-11)

• set license as GPLv2/CC-BY-SA,add LICENSE for meshes (#55)
  • set license as GPLv2/CC-BY-SA,add LICENSE for meshes
  • cleanup code
  • fix wrong license data, add LICENSE information to xacro files
  • cleanup package.xml
• Contributors: Ryosuke Tajima, Tokyo Opensource Robotics Developer 534

1.0.3 (2017-08-04)

• Fix instruction
• Contributors: 7675t

1.0.2 (2017-05-12)

1.0.1 (2017-05-12)

• fix comments on params
• On site fix 5/11 by Tajima
• add joint_trajectory_controller to run_depend
• Contributors: Ryosuke Tajima, Tokyo Opensource Robotics Developer 534

1.0.0 (2017-04-22)

• add test codes (#39 <https://github.com/tork-a/minas/pull/39)
  • tra1_bringup/package.xml: add joint_state_controller and position_controllers to package.xml
  • tra1_bringup/CMakeList.txt: add test lauch files
  • tra1_bringup/package.xml: add more run_depends
• make parameters as rosparam (#33 <https://github.com/tork-a/minas/pull/33)
  • tra1_bringup.launch/ joint1->joint5 : fix typo
  • move custom controller parameters for tra1 to tra1_bringup/launch/tra1_bringup.lauch
  • minas_control.launch add eth arg to set ether device name
• Add timeout to shutdown controllers (#35 <https://github.com/tork-a/minas/pull/35)
• Contributors: Ryosuke Tajima, Tokyo Opensource Robotics Developer 534

0.5.2 (2017-04-01)

0.5.1 (2017-03-26)

• README.md: add instruction to run simulation(loopback) mode
• README.md: add how to observe joint_states
• Contributors: Tokyo Opensource Robotics Developer 534

0.5.0 (2017-03-06)

• add doc for tra1_brignup (step 5)
• Contributors: Tokyo Opensource Robotics Developer 534

0.4.0 (2017-03-06)

• add CHANGELOG for tra1_ packages
• update CMakeLists.txt : add Relaease
• Contributors: Tokyo Opensource Robotics Developer 534

0.3.0 (2017-03-06)

• add tra1_moveit.laucnh (move for real robot, run after tra1_bringup.launch
• tra1_bringup.launch: add robot_state_publisher and static tf from /world -> base_link
• add tra1_bringup
• Contributors: Tokyo Opensource Robotics Developer 534