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Only released in EOL distros:   fuerte groovy

Documentation

This package contains a driver that integrates MetraLabs Scitos G5 robots into ROS using MetraLabs' former MLRobotic libraries.

If your Scitos is newer and only runs "MIRA" try scitos_drivers or cognidrive_ros

Features

• URDF model included

• diagnostics support (atm. just the battery state)

• access Scitos hardware features via dynamic_reconfigure (EBC ports, sonar, display led, free run mode...)

• publish sonar data as Range message with automatic sonar (de)activation when nodes (un)subscribe (to disable sonar remove the <sonar> tag from the scitos-config-xml)

• bumper status / reset supported via topics
• ...

• A manipulator supported by MetraLabs can be controlled via this node.

  • Supported protocols: AmtecMotionProtocol and SchunkMotionProtocol

  • Each specific manipulator hardware can adjust its specifics via subclassing
  • joint naming freedom
  • mimicking joints support

  • FollowJointTrajectoryAction server

  • ...

Feel free to ask for improvements or file issues.

Node API

ScitosServer node

The driver for the Scitos robot platform.

Subscribed Topics

/cmd_vel (geometry_msgs/Twist)

• drive the robot

/bumper_reset (std_msgs/Empty)

• reset the bumper

Published Topics

/odom (nav_msgs/Odometry)

• odometry from Scitos platform

/bumper (invalid message type for MsgLink(msg/type))

• bumper status

/sonar (sensor_msgs/Range)

• sonar data

/diagnostics (diagnostics_msgs/DiagnosticArray)

• diagnostics, see features list

Parameters

~scitos_config_file (string, default: /opt/MetraLabs/MLRobotic/etc/config/SCITOS-G5_without_Head_config.xml)

• SCITOS config file to use

~robot_arm_class (string, default: None)

• Which RobotArm class to load if not None (just an ID, no real classloader yet)

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~EBC0_Enable5V (bool, default: False)

• Enable power output

~EBC0_Enable12V (bool, default: False)

• Enable power output

~EBC0_Enable24V (bool, default: False)

• Enable power output

~EBC1_Enable5V (bool, default: False)

• Enable power output

~EBC1_Enable12V (bool, default: False)

• Enable power output

~EBC1_Enable24V (bool, default: False)

• Enable power output

~FreeRunMode (bool, default: False)

• Disable brakes to push the robot

~SonarsActive (bool, default: False)

• Enable sonar

~StatusDisplayKnobLock (bool, default: False)

• Lock display knob

~StatusDisplayLED (bool, default: False)

• Switch display status LED

Provided tf Transforms

base_link → odom

• odometry transform

base_link → sonar_##

• transform for each sonar sensor

ScitosServer:manipulator

The manipulator part actually cannot be made a separate node. But it can be disabled if not needed and therefore this list is split.

Subscribed Topics

/joint_states (sensor_msgs/JointState)

• current joint states

schunk/status (metralabs_msgs/SchunkStatus)

• current joint status data

schunk/emergency (std_msgs/Empty)

• emergency halt the manipulator

schunk/stop (std_msgs/Empty)

• soft stop the manipulator

schunk/ack (std_msgs/Int8)

• ack/reset the joint with given index

schunk/ack_all (std_msgs/Empty)

• ack/reset the manipulator

schunk/set_velocity (metralabs_msgs/IDAndFloat)

• set velocity for one joint

schunk/set_acceleration (metralabs_msgs/IDAndFloat)

• set acceleration for one joint

schunk/set_current (metralabs_msgs/IDAndFloat)

• set current for one joint

schunk/set_current_max_all (std_msgs/Empty)

• sets maximum current of all joints to their maximum, if supported

schunk/move_position (metralabs_msgs/IDAndFloat)

• move one joint to position

schunk/move_velocity (metralabs_msgs/IDAndFloat)

• move one joint with velocity

schunk/move_all_position (metralabs_msgs/IDAndFloat)

• move manipulator to position

schunk/move_all_velocity (metralabs_msgs/IDAndFloat)

• move manipulator with velocity

schunk/trajectory_command (trajectory_msgs/JointTrajectory)

• move manipulator according to trajectory (Deprecated, use action instead)

schunk/<follow_joint_trajectory_action_name> (control_msgs/FollowJointTrajectoryAction)

• move manipulator according to trajectory action; the name can be parameterized

Published Topics

schunk/trajectory_state (control_msgs/JointTrajectoryControllerState)

• the state information published by the old trajectory executor

Parameters

follow_joint_trajectory_action_name (string, default: follow_joint_trajectory)

• The name to for this node's FollowJointTrajectoryAction server (will be prefixed with namespace schunk)