[Documentation] [TitleIndex] [WordIndex

About

The carl_moveit_package includes configuration files for running the CARL robot with MoveIt!. The package also includes a ros node that acts as a wrapper for relevant MoveIt! functionality that CARL uses, and a node that provides simple execution of common actions such as arm readying, retracting, and lifting.

Newly proposed, mistyped, or obsolete package. Could not find package "carl_moveit" in rosdoc: /home/rosbot/docs/api/carl_moveit/manifest.yaml

Nodes

carl_moveit_wrapper

'carl_moveit_wrapper' provides a convenient wrapper to commonly used MoveIt! functionality for CARL, such as motion planning for end-effector poses, end-effector Cartesian trajectory generation, and inverse kinematics.

Action Goal

carl_moveit_wrapper/move_to_pose (carl_moveit/MoveToPoseGoal) carl_moveit_wrapper/move_to_joint_pose (carl_moveit/MoveToJointPoseGoal)

Action Result

carl_moviet_wrapper/move_to_pose (carl_moveit/MoveToPoseResult) carl_moveit_wrapper/move_to_joint_pose (carl_moveit/MoveToJointPoseResult)

Actions Called

jaco_arm/joint_velocity_controller/trajectory (control_msgs/FollowJointTrajectoryGoal)

Subscribed Topics

joint_states (sensor_msgs/JointState) carl_moveit_wrapper/cartesian_control (geometry_msgs/Twist) jaco_arm/arm_homed (std_msgs/Bool)

Published Topics

jaco_arm/angular_cmd (wpi_jaco_msgs/AngularCommand) carl_moveit/computed_trajectory (moveit_msgs/DisplayTrajectory)

Services

carl_moveit_wrapper/cartesian_path (carl_moveit/CartesianPath) carl_moveit_wrapper/call_ik (carl_moveit/CallIK)

Services Called

compute_ik (moveit_msgs/GetPositionIK) clear_octomap (std_srvs/Empty)

carl_moveit_common_actions

'carl_moveit_common_actions' provides a quick way to call preprogrammed actions that require motion planning, such as resetting the arm to its home position with obstacle avoidance.

Action Goal

carl_moveit_wrapper/common_actions/arm_action (carl_moveit/ArmAction) carl_moveit_wrapper/common_actions/lift (rail_manipulation_msgs/LiftAction) carl_moveit_wrapper/common_actions/pickup (carl_moveit/PickupAction)

Action Result

carl_moveit_wrapper/common_actions/arm_action (carl_moveit/ArmResult) carl_moveit_wrapper/common_actions/lift (rail_manipulation_msgs/LiftResult) carl_moveit_wrapper/common_actions/pickup (carl_moveit/PickupResult)

Actions Called

carl_moveit_wrapper/move_to_joint_pose (carl_moveit/MoveToJointPoseGoal) carl_moveit_wrapper/move_to_pose (carl_moveit/MoveToPoseGoal) jaco_arm/manipulation/gripper (rail_manipulation_msgs/GripperAction) carl_moveit_wrapper/common_actions/lift (rail_manipulation_msgs/LiftAction)

Subscribed Topics

jaco_arm/angular_cmd (wpi_jaco_msgs/AngularCommand)

Services Called

jaco_arm/erase_trajectories (std_srvs/Empty) jaco_arm/get_angular_position (wpi_jaco_msgs/GetAngularPosition)

Installation

To install the carl_moveit package, you can install from source with the following commands:

Startup

The carl_moveit package contains many launch files that are used for configuring MoveIt! for CARL. They can be used to run MoveIt! on CARL, on a simulated robot, run benchmarks, visualize motion planning, and adjust parameters. Primarily, the carl_moveit_full.launch file can be used to run everything required for MoveIt! on CARL, as well as carl_moveit_wrapper and carl_moveit_common_actions:


2019-11-09 12:32