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Package Summary

Tags No category tags.
Version 0.1.5
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git
VCS Type git
VCS Version main
Last Updated 2022-08-11
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.

Additional Links

Maintainers

  • Stefan Scherzinger
  • Felix Exner

Authors

  • Felix Exner
  • Stefan Scherzinger

Twist Controller

A Cartesian ROS-controller for commanding target twists to a robot.

This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.

Controller .yaml

A possible configuration looks like this:

twist_controller:
   type:         ros_controllers_cartesianlers/TwistController

   # The controller uses this identifier to get the according command handle
   # from the hardware interface.
   frame_id:     "endpoint_to_control"

   joints:
   - joint1
   - joint2
   - joint3
   - joint4
   - joint5
   - joint6

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.


rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG

Changelog for package twist_controller

0.1.5 (2021-12-02)

  • Rename library target (#10) Using the cartesian prefix for the library target shall avoid clashes with IPA\'s cob_twist_controller.
  • Contributors: Stefan Scherzinger

0.1.4 (2021-08-05)

  • Add websites to package.xml files
  • Update image paths of partner logos (#4)
  • Contributors: Felix Exner

0.1.3 (2021-06-23)

  • Fixed namespace of controller plugin (#3) It clearly contained a typo
  • Contributors: Felix Exner

0.1.2 (2021-06-15)

  • Remove more trailing whitespaces
  • Contributors: Felix Exner

0.1.1 (2021-06-15)

  • Removed trailing whitespaces from README\'s
  • Contributors: Felix Exner

0.1.0 (2021-06-15)

  • Initial release
  • Contributors: Felix Exner, Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged twist_controller at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.5
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git
VCS Type git
VCS Version main
Last Updated 2022-08-11
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.

Additional Links

Maintainers

  • Stefan Scherzinger
  • Felix Exner

Authors

  • Felix Exner
  • Stefan Scherzinger

Twist Controller

A Cartesian ROS-controller for commanding target twists to a robot.

This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.

Controller .yaml

A possible configuration looks like this:

twist_controller:
   type:         ros_controllers_cartesianlers/TwistController

   # The controller uses this identifier to get the according command handle
   # from the hardware interface.
   frame_id:     "endpoint_to_control"

   joints:
   - joint1
   - joint2
   - joint3
   - joint4
   - joint5
   - joint6

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.


rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG

Changelog for package twist_controller

0.1.5 (2021-12-02)

  • Rename library target (#10) Using the cartesian prefix for the library target shall avoid clashes with IPA\'s cob_twist_controller.
  • Contributors: Stefan Scherzinger

0.1.4 (2021-08-05)

  • Add websites to package.xml files
  • Update image paths of partner logos (#4)
  • Contributors: Felix Exner

0.1.3 (2021-06-23)

  • Fixed namespace of controller plugin (#3) It clearly contained a typo
  • Contributors: Felix Exner

0.1.2 (2021-06-15)

  • Remove more trailing whitespaces
  • Contributors: Felix Exner

0.1.1 (2021-06-15)

  • Removed trailing whitespaces from README\'s
  • Contributors: Felix Exner

0.1.0 (2021-06-15)

  • Initial release
  • Contributors: Felix Exner, Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged twist_controller at answers.ros.org

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