Package Summary
A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.
- Maintainer status: developed
- Maintainer: Stefan Scherzinger <scherzin AT fzi DOT de>, Felix Exner <exner AT fzi DOT de>
- Author: Felix Exner <exner AT fzi DOT de>
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git (branch: main)
Package Summary
A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.
- Maintainer status: developed
- Maintainer: Stefan Scherzinger <scherzin AT fzi DOT de>, Felix Exner <exner AT fzi DOT de>
- Author: Felix Exner <exner AT fzi DOT de>
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git (branch: main)
Contents
A Cartesian ROS-controller for commanding target twists to a robot.
This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.
Configuration
A possible configuration looks like this:
1 twist_controller:
2 type: ros_controllers_cartesianlers/TwistController
3
4 # The controller uses this identifier to get the according command handle
5 # from the hardware interface.
6 frame_id: "endpoint_to_control"
7
8 joints:
9 - joint1
10 - joint2
11 - joint3
12 - joint4
13 - joint5
14 - joint6