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OpenManipulator机械臂入门教程-Message List

说明

  • 介绍OpenManipulator发布的topic、订阅的topic和service等

Topic

  • Topic Monitor

  • 通过ROS中的rqt来查看topic list中的topic状态

  • 运行rpt

$ rqt

提示:最大化rqt窗口,在左上角的选项中选择plugin- > Topics- > Topic Monitor。点击topic左边的复选框选择需要监听的topic

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  • Published Topic List

  • 已发布的topic列表:

    • /open_manipulator/joint_states
    • /open_manipulator/gripper/kinematics_pose
    • /open_manipulator/states

注:这些topic用于检查机械臂的状态,与其运动无关

  • /open_manipulator/joint_states(sensor_msgs/ JointState)is a message indicating the states of joints of OpenManipulator.
    • "name" indicates joint component names.
    • "effort" shows currents of the joint Dynamixels.
    • "position" and "velocity" indicates angles and angular velocities of joints.

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  • /open_manipulator/gripper/kinematics_pose(open_manipulator_msgs/KinematicsPose) is a message indicating pose (position and orientation) in task space.
    • "position" indicates the x, y and z values of the center of the end-effector (tool).
    • "Orientation" indicates the direction of the end-effector (tool) as quaternion.

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  • /open_manipulator/states(open_manipulator_msgs/OpenManipulatorState) is a message indicating the status of OpenManipulator.
    • "open_manipulator_actuator_state" indicates whether actuators (Dynamixels) are enabled ("ACTUATOR_ENABLE") or disabled ("ACTUATOR_DISABLE").
    • "open_manipulator_moving_state" indicates whether OpenManipulator is moving along the trajectory ("IS_MOVING") or stopped ("STOPPED").

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  • Subscribed Topic List

  • 已订阅的topic列表: A list of topics that the open_manipulator_controller subscribes.

    • /open_manipulator/option

注:这些topic用于检查机械臂的状态,与其运动无关

  • /open_manipulator/option(std_msgs::String) is used to set OpenManipulator options.

    • "print_open_manipulator_setting" : request the open_manipulator_controller controller to display "Manipulator Description".

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Service

  • Service Server List

    • /open_manipulator/goal_joint_space_path (open_manipulator_msgs/SetJointPosition)
      The user can use this service to create a trajectory in the joint space. The user inputs the angle of the target joint and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path_position_only (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose(position only) of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path_orientation_only (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose(orientation only) of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_joint_space_path_from_present (open_manipulator_msgs/SetJointPosition)
      The user can use this service to create a trajectory from present joint angle in the joint space. The user inputs the angle of the target joint to be changed and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path_from_present (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose to be changed of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path_from_present_position_only (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose(position only) of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_task_space_path_from_present_orientation_only (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose(orientation only) of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

    • /open_manipulator/goal_tool_control (open_manipulator_msgs/SetJointPosition)
      The user can use this service to move the tool of OpenManipulator.

    • /open_manipulator/set_actuator_state (open_manipulator_msgs/SetActuatorState)
      The user can use this service to control the state of actucators.
      If the user set true at set_actuator_state valuable, the actuator will be enabled.
      If the user set false at set_actuator_state valuable, the actuator will be disabled.

    • /open_manipulator/goal_drawing_trajectory (open_manipulator_msgs/SetDrawingTrajectory)
      The user can use this service to create a drawing trajectory. The user can create the circle, the rhombus, the heart, and the straight line trajectory.

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标签: openmanipulator 机械臂入门教程