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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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

Package Summary

The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

  • 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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

  • 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)
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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

  • 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: melodic-devel)
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 single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.

  • 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: melodic-devel)

See also robot_mechanism_controllers/JointSplineTrajectoryController, which is used by this action.

sjposition_action_topics.png

Usage

You can find an example of using the single joint position action on the PR2 in the Moving the Torso tutorial.

ROS API

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

Parameters

Parameters

~joint (string, default: Required) ~goal_threshold (double, default: 0.1)

Action interface

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

Subscribed Topics

~position_joint_action/goal (pr2_controllers_msgs/SingleJointPositionActionGoal) ~position_joint_action/cancel (actionlib_msgs/GoalID)

Published Topics

~position_joint_action/feedback (pr2_controllers_msgs/SingleJointPositionActionFeedback) ~position_joint_action/status (actionlib_msgs/GoalStatusArray) ~position_joint_action/result (pr2_controllers_msgs/SingleJointPositionActionResult)

Controller interface

Subscribed Topics

~state (pr2_controllers_msgs/JointTrajectoryControllerState)

Published Topics

~command (trajectory_msgs/JointTrajectory)


2019-09-14 13:14