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

• 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.

• /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.

• /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").

• 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".

Service

• Service Server List

- /open_manipulator/goal_joint_space_path ([open_manipulator_msgs/SetJointPosition][12])

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][14])

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][22])

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][24])

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][26])

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][28])

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][31])

The user can use this service to move the tool of OpenManipulator.

- /open_manipulator/set_actuator_state ([open_manipulator_msgs/SetActuatorState][32])

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][33])

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.