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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for OpenMANIPULATOR-X

ROS API

open_manipulator_control_gui

This node provides graphical user interface based on QT.

Subscribed Topics

states (open_manimulator_msgs/OpenManipulatorState)

• Subscribe whether the manipulator is moving or not, and whether the actuators are enabled or disabled.

joint_states (sensor_msgs/JointState)

• Subscribe robot joint states such as joint position.

kinematics_pose (open_manipulator_msgs/KinematicsPose)

• Subscribe kinematic pose of manipulator end-effector.

Published Topics

option (std_msgs/String)

• Publish options to the manipulator in std::string format.

Services Called

goal_joint_space_path (open_manipulator_msgs/SetJointPosition)

• This service is used when requesting movement of the manipulator to the target position in the joint space.

goal_task_space_path_position_only (open_manipulator_msgs/SetKinematicsPose)

• This service is used when requesting movement of the manipulator to the target position in the task space.

goal_tool_control (open_manipulator_msgs/SetJointPosition)

• This service is used when requesting goal position of the tool of the manipulator.

set_actuator_state (open_manipulator_msgs/SetActuatorState)

• This service is used to request the status change of enable or disable of the actuators.

goal_drawing_trajectory (open_manipulator_msgs/SetDrawingTrajectory)

• This service is used to request manipulator movement to follow a preset target drawing trajectory set at open_manipulator_libs.

Parameters

robot_name (string, default: open_manipulator)

• Set robot name as namespace.

end_effector (string, default: gripper)

• Set the end-effector name of the manipulator set in open_manipulator node of open_manipulator_libs package.