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vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The manipulator_handler package

Contents

  1. Manipulator

Manipulator

The manipulator handler looks for a manipulator tag and it finds all its joints. After it creates a ROS publisher of sensor_msgs/JointState messages:

In addition it gives us the possibility to control the joints using commands from ROS in several ways (see here for more details):

You can use the function "simExtSetFloatCustomDataFromHeader()" to set the control mode you prefer.

In the folder vrep_ros_brigde/SceneVrep you will find the model of a manipulator with the joints controlled in velocity: ManipulatorViper.ttt.


2019-08-17 12:56