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Package Organization

This package contains robot description and configuration files for Maxwell, organized into subdirectories as follows:

Starting Up Maxwell

To start Maxwell, use one of the following launch files:

Interacting with Maxwell

Moving the Base

The base uses a standard geometry_msgs/Twist message on the cmd_vel topic to set desired velocity.

Moving the Arm

See maxwell_arm_navigation and maxwell_interactive_markers.

Accessing Sensor Information

Sensor Data

Topic Name

base: position

/odom and /tf

camera: 2D color image


camera: 2D grayscale image


camera: 3D point cloud


joints: positions


Use of /camera/depth is not recommended as most of our demos will use the topics in the /camera/rgb namespace.

2024-07-20 13:23