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katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

GPL license due to the KNI library.

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: hydro_catkin)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: indigo_catkin)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: jade)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: kinetic)
katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This package provides ROS interfaces to the Neuronics Katana 450 arm. It wraps the KNI library for low-level communication with the Katana arm.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • Author: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
  • License: GPL
  • Source: git https://github.com/uos/katana_driver.git (branch: lunar)

ROS API

This package provides the katana ROS node, which provides four sets of functionality at once: the joint_state_publisher, the joint_movement_controller, the joint_trajectory_action_controller and the gripper_grasp_controller. They are combined into one single node for technical reasons (only one single process can access the Katana), but documented separately below for clarity.

Also there is a second node in this package, called katana_arm_kinematics, documented at the end.

katana node: general parameters

Services

switch_motors_off (std_srvs/Empty) switch_motors_on (std_srvs/Empty) test_speed (std_srvs/Empty)

Parameters

~simulation (bool, default: false) katana_joints (Array of strings, default: Required) katana_gripper_joints (Array of strings, default: Required) robot_description (String, default: Required) ~use_serial (bool, default: false) ~ip (String, default: "192.168.1.1") ~port (int, default: 5566) ~serial_port (int, default: 0) ~config_file_path (String, default: Required) katana_type (string, default: Required)

joint_state_publisher

Published Topics

joint_states (sensor_msgs/JointState)

joint_movement_action_controller

This module provides the functionality of adressing a single joint or multiple joints at once via an action interface.

Action Goal

katana_arm_controller/joint_movement_action/goal (katana_msgs/JointMovementActionGoal)

Action Result

katana_arm_controller/joint_movement_action/result (katana_msgs/JointMovementActionResult)

Action Feedback

katana_arm_controller/joint_movement_action/feedback (katana_msgs/JointMovementActionGoal)

joint_trajectory_action_controller

This module provides the functionality of both the joint_trajectory_action (via the action interface) and the JointSplineTrajectoryController (via the command and state topics and the query_state service).

Action Goal

katana_arm_controller/joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal)

Action Result

katana_arm_controller/joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)

Action Feedback

katana_arm_controller/joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)

Subscribed Topics

katana_arm_controller/command (trajectory_msgs/JointTrajectory)

Published Topics

katana_arm_controller/state (pr2_controllers_msgs/JointTrajectoryControllerState)

Services

query_state (pr2_controllers_msgs/QueryTrajectoryState)

Parameters

joint_trajectory_action_node/constraints/<joint>/goal (double, default: 0.02) joint_trajectory_action_node/constraints/stopped_velocity_tolerance (double, default: 1e-6)

gripper_grasp_controller

This module is the very similar to the pr2_gripper_grasp_controller.

Action Goal

posture_action_name/goal (object_manipulation_msgs/GraspHandPostureExecutionActionGoal)

Action Result

posture_action_name/result (object_manipulation_msgs/GraspHandPostureExecutionActionResult)

Services

grasp_query_name (object_manipulation_msgs/GraspStatus)

Parameters

~gripper_object_presence_threshold (double, default: -0.43)

katana_arm_kinematics

This node implements forward and inverse kinematics services. They are implemented using the kni library.

Services

get_kinematic_solver_info (kinematics_msgs/GetKinematicSolverInfo) get_fk (kinematics_msgs/GetPositionFK) get_ik (kinematics_msgs/GetPositionIK)

Parameters

~config_file_path (String, default: ros::package::getPath("kni") + "/KNI_4.3.0/configfiles450/katana6M90A_G.cfg") robot_description (String, default: Required) katana_joints (Array of strings, default: Required)


2019-11-16 12:58