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pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The joint_trajectory_action is a node that exposes an action interface to a joint trajectory controller.

pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The joint_trajectory_action is a node that exposes an action interface to a joint trajectory controller.

Package Summary

The joint_trajectory_action is a node that exposes an action interface to a joint trajectory controller.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Stuart Glaser
  • License: BSD
pr2_controllers: control_toolbox | ethercat_trigger_controllers | joint_trajectory_action | pr2_calibration_controllers | pr2_controllers_msgs | pr2_gripper_action | pr2_head_action | pr2_mechanism_controllers | robot_mechanism_controllers | single_joint_position_action

Package Summary

The joint_trajectory_action is a node that exposes an action interface to a joint trajectory controller.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Stuart Glaser
  • License: BSD
  • Source: git https://github.com/pr2/pr2_controllers.git (branch: kinetic-devel)

Overview

The joint trajectory action is a node that provides an action interface for tracking trajectory execution. It passes trajectory goals to the controller, and reports success when they have finished executing. The joint trajectory action can also enforce constraints on the trajectory, and abort trajectory execution when the constraints are violated.

See: robot_mechanism_controllers/JointSplineTrajectoryController

joint_trajectory_action_topics.png

ROS API

The ROS API consists of three parts: private parameters, an action server that achieves trajectory goals, and an interface to a trajectory controller.

Parameters

Parameters

joints (Array of strings, default: Required) constraints/goal_time (double, default: 0.0) constraints/<joint>/goal (double, default: -1.0) constraints/<joint>/trajectory (double, default: -1.0) constraints/stopped_velocity_tolerance (double, default: 0.01)

Example configuration (from pr2_controller_configuration/pr2_arm_controllers.yaml):

joint_trajectory_action_node:
  joints:
    - r_shoulder_pan_joint
    - r_shoulder_lift_joint
    - r_upper_arm_roll_joint
    - r_elbow_flex_joint
    - r_forearm_roll_joint
    - r_wrist_flex_joint
    - r_wrist_roll_joint
  constraints:
    goal_time: 0.3
    r_shoulder_pan_joint:
      goal: 0.04
    r_shoulder_lift_joint:
      goal: 0.04
    r_upper_arm_roll_joint:
      goal: 0.04
    r_elbow_flex_joint:
      goal: 0.04
    r_forearm_roll_joint:
      goal: 0.04
    r_wrist_flex_joint:
      goal: 0.04
    r_wrist_roll_joint:
      goal: 0.04

Action interface

The joint trajectory action provides an action server (see actionlib) that takes in goals of the type pr2_controllers_msgs/JointTrajectoryGoal.

Subscribed Topics

joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal) joint_trajectory_action/cancel (actionlib_msgs/GoalID)

Published Topics

joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback) joint_trajectory_action/status (actionlib_msgs/GoalStatusArray) joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)

Controller interface

Subscribed Topics

state (pr2_controllers_msgs/JointTrajectoryControllerState)

Published Topics

command (trajectory_msgs/JointTrajectory)

Usage

You can find an example of using the joint trajectory action in this tutorial for moving the arm on the PR2.


2019-12-07 12:44