cob_cartesian_controller

Summary

cob_cartesian_controller
Version:

0.6.10
Description:

This package provides nodes that broadcast tf-frames along various (model-based) Cartesian paths. The tf-frames can be used as targets for the cob_frame_tracker/cob_twist_controller
Maintainers:
  • Felix Messmer <fxm AT ipa DOT fhg DOT de>
Licenses:
  • LGPL
Authors:
  • Christoph Mark <fxm-cm AT ipa DOT fhg DOT de>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

cob_cartesian_controller/Profile
Constant:
  • RAMP (uint8):1 –
  • SINOID (uint8):2 –
Field:
  • profile_type (uint8) –
  • vel (float64) –
  • accl (float64) – 
uint8 RAMP=1
uint8 SINOID=2
uint8 profile_type

float64 vel
float64 accl
cob_cartesian_controller/MoveCirc
Field: 
geometry_msgs/Pose pose_center
string frame_id

float64 start_angle
float64 end_angle
float64 radius

bool rotate_only

cob_cartesian_controller/Profile profile
cob_cartesian_controller/MoveLin
Field: 
geometry_msgs/Pose pose_goal
string frame_id

bool rotate_only

cob_cartesian_controller/Profile profile

Action types

cob_cartesian_controller/CartesianController
Constant (Goal):
 
  • LIN (uint8):1 –
  • CIRC (uint8):2 –
Field (Goal):
Field (Result):
  • success (bool) –
  • message (string) –
Field (Feedback):
 
  • state (uint8) –
  • message (string) –

goal definition

# goal definition
uint8 LIN=1
uint8 CIRC=2
uint8 move_type

cob_cartesian_controller/MoveLin move_lin
cob_cartesian_controller/MoveCirc move_circ

---
# result definition
bool success
string message
---
# Define a feedback message
uint8 state
string message