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pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

Move the pr2 arm using inverse kinematics

ik.png

pr2_arm_move_ik

pr2_arm_ik_action action is uses the joint_trajectory_action to move the wrist roll link to a desired pose.

Action Goal

<~arm>_arm_ik/goal (pr2_common_action_msgs/ArmMoveIKGoal)

Action Result

<~arm>_arm_ik/result (pr2_common_action_msgs/ArmMoveIKResult)

Actions Called

<~arm>_arm_controller/<~joint_trajectory_action> (joint_trajectory_action)

Parameters

~arm (string, default: r) ~joint_trajectory_action (string, default: r_arm_controller/joint_trajectory_action) ~free_angle (int, default: 2) ~search_discretization (double, default: 0.01 rad) ~ik_timeout (double, default: 5.0 sec)

Example launch file :

<launch>
  <!-- ik action -->
  <node pkg="pr2_arm_move_ik" type="arm_ik" name="r_arm_ik" output="screen">
    <param name="joint_trajectory_action" value="/r_arm_controller/joint_trajectory_generator" />
    <param name="arm" value="r" />
    <param name="free_angle" value="2" />
    <param name="search_discretization" value="0.01" />
    <param name="ik_timeout" value="5.0" />
  </node>

  <!-- Trajectory generator -->
  <node pkg="joint_trajectory_generator" type="joint_trajectory_generator" output="screen"
        name="joint_trajectory_generator" ns="r_arm_controller" >
    <param name="max_acc" value="2.0" />
    <param name="max_vel" value="2.5" />
  </node>
</launch>


2019-12-14 12:55