About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Only released in EOL distros:   electric fuerte

Documentation

See this Tutorial for instructions on how to use rviz interactive markers to control the arm.

Video

Requirements

arm.launch and simple_arm_server.launch from the turtlebot_arm_bringup package have to be running.

To start up the markers, run:

• roslaunch turtlebot_arm_interactive_markers arm_markers.launch

Files

launch/arm_markers.launch

• This launch file will bring up the interactive marker server.

Nodes

turtlebot_arm_marker_server

Hosts an interactive_markers server to let the user control the TurtleBot arm through rviz.

Published Topics

/<joint_name>/command (std_msgs/Float64)

• For each joint indicated in the ~/joints parameter, this publishes to the joint's command topic for the joint control mode.

Services Called

/<joint_name>/relax (arbotix_msgs/Relax)

• For each joint indicated in the ~/joints parameter, this calls a service to relax (unpower) a particular joint servo.

Parameters

~root_link (string, default: /arm_base_link)

• The root link of the arm. This should be the bottom link of the arm.

~tip_link (string, default: /gripper_link)

• The tip link of the arm. This should be the last joint before the gripper, and the gripper will be offset from here.

~move_time (double, default: 2.0)

• The amount of time to request for the trajectory move, in seconds. Having this value be higher will make the motion slower but smoother.

~joints (list of strings)

• The name of all the joints in the arm, including the gripper joint, for individual joint control.

~links (list of strings)

• The name of all the links in the arm, including the gripper link, for individual joint control. These should be in the same order as the ~/joints parameter.

~gripper/marker_offset/x (double, default: 0.02)

• In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.

~gripper/marker_offset/y (double, default: 0.025)

• In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.

~gripper/marker_offset/z (double, default: 0.0)

• In trajectory control mode, the offset for the gripper marker. This is determined by gripper dimensions.

~gripper/box_offset/x (double, default: -0.017)

• In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.

~gripper/box_offset/y (double, default: -0.008)

• In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.

~gripper/box_offset/z (double, default: 0.0)

• In trajectory control mode, the offset for the gripper box from the gripper marker. This is determined by gripper dimensions.

Required tf Transforms

<root_link> → <tip_link>

• This transform is necessary for visualizing the correct position of the arm marker.