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Only released in EOL distros:  

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

turtlebot_arm_interactive_markers allows the user to control the TurtleBot arm using rviz interactive markers.

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

turtlebot_arm_interactive_markers allows the user to control the TurtleBot arm using rviz interactive markers.

Documentation

See this Tutorial for instructions on how to use rviz interactive markers to control the arm.

Video

Requirements

arm.launch and simple_arm_server.launch from the turtlebot_arm_bringup package have to be running.

To start up the markers, run:

Files

launch/arm_markers.launch

Nodes

turtlebot_arm_marker_server

Hosts an interactive_markers server to let the user control the TurtleBot arm through rviz.

Published Topics

/<joint_name>/command (std_msgs/Float64)

Services Called

/<joint_name>/relax (arbotix_msgs/Relax)

Parameters

~root_link (string, default: /arm_base_link) ~tip_link (string, default: /gripper_link) ~move_time (double, default: 2.0) ~joints (list of strings) ~links (list of strings) ~gripper/marker_offset/x (double, default: 0.02) ~gripper/marker_offset/y (double, default: 0.025) ~gripper/marker_offset/z (double, default: 0.0) ~gripper/box_offset/x (double, default: -0.017) ~gripper/box_offset/y (double, default: -0.008) ~gripper/box_offset/z (double, default: 0.0)

Required tf Transforms

<root_link><tip_link>


2019-12-07 13:13