[Documentation] [TitleIndex] [WordIndex

svenzva_ros: svenzva_demo | svenzva_description | svenzva_drivers | svenzva_joy | svenzva_moveit | svenzva_msgs | svenzva_simulation | svenzva_utils

Package Summary

Files relating to running 3D simulations of Svenzva manipulators

Introduction

This package contains relevant files for running Svenzva robots in 3D simulations. Currently supported simulations are through Gazebo, MoveIt!, or both Gazebo and Moveit!.

For control of robot arms in simulation we use ros_control plugins for Gazebo. This provides software level controllers for each joint which likely will not translate 1-1 on the real robot.

Tips on tuning PID parameters for ros_control can be found on Gazebo's ros_control plugin page (located here) under the section "Tuning PID Parameters".

Supported Version

Simulations have been run in both ROS Indigo (Gazebo 2) and ROS Kinetic (Gazebo 7).

Tutorials

For software guides and tutorials we use the Wiki on our main Github repository.

The tutorial for 3D simulations using Gazebo and/or MoveIt can be found at https://github.com/SvenzvaRobotics/svenzva_ros/wiki/Simulation-with-Gazebo-and-MoveIt!

Nodes

/revel/revel_trajectory_controller

The ros_control interface for trajectory execution. Run when executing Gazebo and Moveit, as it allows MoveIt trajectories to be played back and realized in the Gazebo environment.

Subscribed Topics

/revel/effort_joint_trajectory_controller/follow_joint_trajectory/goal (control_msgs/FollowJointTrajectoryActionGoal) /revel/effort_joint_trajectory_controller/gains/joint_1/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /revel/effort_joint_trajectory_controller/gains/joint_2/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /revel/effort_joint_trajectory_controller/gains/joint_3/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /revel/effort_joint_trajectory_controller/gains/joint_4/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /revel/effort_joint_trajectory_controller/gains/joint_5/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /revel/effort_joint_trajectory_controller/gains/joint_6/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

Published Topics

/revel/effort_joint_trajectory_controller/follow_joint_trajectory/feedback (control_msgs/FollowJointTrajectoryActionFeedback) /revel/effort_joint_trajectory_controller/follow_joint_trajectory/result (control_msgs/FollowJointTrajectoryActionResult)

/revel/controller

Spawns and runs a PID controller for each joint outside of a trajectory controller, making it useful for standalone Gazebo simulations. Each motor has its own command and state expositions.

Subscribed Topics

/svenzva_controllers/joint_1/command (std_msgs/Float64) /svenzva_controllers/joint_1/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /svenzva_controllers/joint_2/command (std_msgs/Float64) /svenzva_controllers/joint_2/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /svenzva_controllers/joint_3/command (std_msgs/Float64) /svenzva_controllers/joint_3/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /svenzva_controllers/joint_4/command (std_msgs/Float64) /svenzva_controllers/joint_4/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /svenzva_controllers/joint_5/command (std_msgs/Float64) /svenzva_controllers/joint_5/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription) /svenzva_controllers/joint_6/command (std_msgs/Float64) /svenzva_controllers/joint_6/pid/parameter_descriptions (dynamic_reconfigure/ConfigDescription)

Published Topics

/svenzva_controllers/joint_1/state (control_msgs/JointControllerState) /svenzva_controllers/joint_2/state (control_msgs/JointControllerState) /svenzva_controllers/joint_3/state (control_msgs/JointControllerState) /svenzva_controllers/joint_4/state (control_msgs/JointControllerState) /svenzva_controllers/joint_5/state (control_msgs/JointControllerState) /svenzva_controllers/joint_6/state (control_msgs/JointControllerState)


2019-12-07 13:11