Documentation

The actuator_array stack contains the following packages

• actuator_array_driver: A base class that implements the common Actuator Array interface. This base class handles the communication with ROS and parses the robot description URDF for relevant information about the controlled joints. A custom driver that adheres to the Actuator Array protocol can be created by implementing just a few functions.

• actuator_array_gui: A Python GUI program that displays the current status of all of the joints in a specific Actuator Array, and allows the user to manually control each joint.

• actuator_array_gazebo_plugin: A plugin module for the Gazebo simulation that enables control of a set of actuators. A simulated robot can be generated from the existing robot description URDF by simply adding a Gazebo Actuator Array Controller.

• actuator_array_example: A simple example project that demonstrates how to create a custom driver using the actuator_array_driver base class. This example uses a simulated servo motor to demonstrate the driver operation while avoiding hardware dependencies.

• actuator_array_joint_trajectory_action: "{Coming Soon}" A package that implements the Joint Trajectory Action interface for driver that uses the Actuator Array interface. This enables operation with advanced ROS services, such as the arm_navigation stack.

• trajectory_executor_gui: "{Coming Soon}" A Python GUI that allows the user to load trajectories via an XML file, then play them back on any controller that implements a Joint Trajectory Action interface. This allows simple testing or scripting of robot actions.

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