[Documentation] [TitleIndex] [WordIndex

qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent bringup utilities for qbrobotics® devices.

qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent bringup utilities for qbrobotics® devices.

qb_device: qb_device_bringup | qb_device_control | qb_device_description | qb_device_driver | qb_device_hardware_interface | qb_device_msgs | qb_device_srvs | qb_device_utils

Package Summary

This package contains a device-independent bringup utilities for qbrobotics® devices.

This package is barely usable alone since it provides only templates to create more structured launch files in the derived packages (cf. qb_hand and qb_move).

Launch files

The five launch file templates come in help when loading the description package of a device.

Please, use these "macros" whenever is possible to improve robustness, readability and maintenance of derived packages.

component_bringup

This launch file calls the other templates load_description_template, controllers_bringup and control_bringup to bringup a control node for a single device without starting joint_state_publisher, robot_state_publisher and rviz.

Parameters

Since the only difference w.r.t. the full_bringup launch file is the includes of the load_description_template rather than the description_bringup, the parameters are exactly the same as the other a part from use_rviz which is not used.

control_bringup

This launch file starts the device control node with the given parameters.

Parameters

control_action (string, default: empty string) control_duration (double, default: 0.01) device_id (int, default: 1) device_control (string) device_namespace (string) use_waypoints (bool, default: false) waypoint_namespace (string) waypoint_settings (string)

controllers_bringup

This launch file just calls the spawner_template to bringup the device controllers including the rqt_joint_trajectory_controller GUI if requested.

Parameters

controllers (string) controllers_namespace (string) controllers_settings (string) use_controller_gui (bool, default: false)

description_bringup

This launch file packs together the load_description_template and the state_publisher_template to bringup all the device description including joint_state_publisher and robot_state_publisher. If specified also starts rviz.

Parameters

device_description (string) device_namespace (string) device_urdf (string) frequency (int, default: 100) source_list (string, default: [joint_states]) use_rviz (bool, default: true)

full_bringup

This launch file calls the other templates description_bringup, controllers_bringup and control_bringup to bringup a complete control node for a single device.

Parameters

It provides basically the same configuration parameters as the other launch files a part from frequency and source_list of the description_bringup which are not exported outside.


2019-09-14 13:05