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Only released in EOL distros:  

Overview

This package contains the hardware interface to control the robot. The rtai_ros_bridge package from rtai_ros_integration stack is used to exchange data with the robot.

Nodes

biped_serializer

Serialization of data that is sent to the BipedRobin controller.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

data_to_rtai (std_msgs/UInt8MultiArray)

Services

footstep3DInc_srv (biped_robin_msgs/StepTarget3DService) movePostureCartesian_srv (biped_robin_msgs/MovePostureCartesianService) movePostureJoint_srv (biped_robin_msgs/MovePostureJointService) moveGripper_srv (biped_robin_msgs/MoveGripperService) acknowledge_srv (std_srvs/Empty) reference_srv (std_srvs/Empty) stop_srv (std_srvs/Empty) resetState_srv (std_srvs/Empty) setMode_srv (biped_robin_msgs/SetModeService) setParam_srv (biped_robin_msgs/SetParamService)

Parameters

par_isRealEnvironment (bool, default: false)

biped_deserializer

De-serialization of data that was sent by the BipedRobin controller to ROS topics.

Subscribed Topics

data_from_rtai (std_msgs/UInt8MultiArray)

Published Topics

joint_states (sensor_msgs/JointState) bipedRobinGlobalBehaviour (biped_robin_msgs/BipedRobinGlobalBehaviour) stepsLeftInBuffer (std_msgs/UInt8)

Provided tf Transforms

odombase_link base_linkcenter_of_mass base_linkgaze base_linkl_sole base_linkr_sole base_linkbase_footprint

kinect_transform_publisher.py

Publishes the tranformation from

Subscribed Topics

cur_tilt_angle (std_msgs/Float64)

Published Topics

tilt_angle (std_msgs/Float64)

Provided tf Transforms

camera_linkgaze


2019-12-14 12:27