tra1_bringup package from minas repoethercat_manager minas minas_control tra1_bringup tra1_description tra1_moveit_config |
|
Package Summary
Tags | No category tags. |
Version | 1.0.10 |
License | GPLv2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tork-a/minas.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2018-06-16 |
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
Additional Links
Maintainers
- Tokyo Opensource Robotics Kyokai (TORK) Developer Team
Authors
- Tokyo Opensource Robotics Developer 534
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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
minas |
Launch files
- launch/tra1_moveit.launch
-
- db [default: false]
- db_path [default: $(find tra1_moveit_config)/default_warehouse_mongo_db]
- debug [default: false]
- launch/tra1_bringup.launch
-
- debug [default: false]
- simulation [default: false]
- eth [default: eth0]
Messages
Services
Plugins
Recent questions tagged tra1_bringup at Robotics Stack Exchange
tra1_bringup package from minas repoethercat_manager minas minas_control tra1_bringup tra1_description tra1_moveit_config |
|
Package Summary
Tags | No category tags. |
Version | 1.0.10 |
License | GPLv2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tork-a/minas.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2018-06-16 |
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
Additional Links
Maintainers
- Tokyo Opensource Robotics Kyokai (TORK) Developer Team
Authors
- Tokyo Opensource Robotics Developer 534
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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
minas |
Launch files
- launch/tra1_moveit.launch
-
- db [default: false]
- db_path [default: $(find tra1_moveit_config)/default_warehouse_mongo_db]
- debug [default: false]
- launch/tra1_bringup.launch
-
- debug [default: false]
- simulation [default: false]
- eth [default: eth0]
Messages
Services
Plugins
Recent questions tagged tra1_bringup at Robotics Stack Exchange
tra1_bringup package from minas repoethercat_manager minas minas_control tra1_bringup tra1_description tra1_moveit_config |
|
Package Summary
Tags | No category tags. |
Version | 1.0.10 |
License | GPLv2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tork-a/minas.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2018-06-16 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tokyo Opensource Robotics Kyokai (TORK) Developer Team
Authors
- Tokyo Opensource Robotics Developer 534
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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
minas |
Launch files
- launch/tra1_moveit.launch
-
- db [default: false]
- db_path [default: $(find tra1_moveit_config)/default_warehouse_mongo_db]
- debug [default: false]
- launch/tra1_bringup.launch
-
- debug [default: false]
- simulation [default: false]
- eth [default: eth0]