No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.

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
Released RELEASED

Package Description

Package contains bringup scripts/config/tools for tra1 robto

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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tra1_bringup at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

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
Released RELEASED

Package Description

Package contains bringup scripts/config/tools for tra1 robto

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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tra1_bringup at answers.ros.org

No version for distro hydro. Known supported distros are highlighted in the buttons above.