iai_control_msgs

Summary

iai_control_msgs
Version:

0.0.5
Description:

Message defintions to talk to the motion controllers developed in the IAI institute, University Bremen, Germany.
Maintainers:
  • Georg Bartels <georg DOT bartels AT cs DOT uni-bremen DOT de>
Licenses:
  • BSD
Authors:
  • Ingo Kresse <ingo DOT kresse AT gmail DOT com>
  • Georg Bartels <georg DOT bartels AT cs DOT uni-bremen DOT de>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

iai_control_msgs/CartGoal
Field:

Command to give a cartesian goal to a robot

# Command to give a cartesian goal to a robot
geometry_msgs/PoseStamped pose   # Has the stamp, and the Pose of the goal
string ee_frame_name  # Is the name of the EndEffector frame
iai_control_msgs/MultiJointVelocityImpedanceState
Field:
  • header (std_msgs/Header) –
  • joint_names[] (string) –
  • velocity[] (float64) –
  • stiffness[] (float64) –
  • damping[] (float64) –

Header

#Header
Header header

# joints we are commanding
string[] joint_names

# commands send to low-level controller
float64[] velocity     #joint velocity in rad/s
float64[] stiffness    #joint stiffness in Nm/rad
float64[] damping      #joint damping (normalized, 0.7 is critically dampped)
iai_control_msgs/MultiJointVelocityImpedanceCommand
Field:
  • header (std_msgs/Header) –
  • velocity[] (float32) –
  • stiffness[] (float32) –
  • damping[] (float32) –
  • add_torque[] (float32) –

Header

#Header
Header header

# Command to move a set of velocity-resolved robot joints 
float32[] velocity     #joint velocity in rad/s
float32[] stiffness    #joint stiffness in Nm/rad
float32[] damping      #joint damping (normalized, 0.7 is critically dampped)

# Experimental field: DO NOT USE unless you really know what you are doing!
float32[] add_torque   #additional joint torque in Nm
iai_control_msgs/JointLimits
Field:
  • joint_names[] (string) –
  • limits_lower[] (float64) –
  • limits_upper[] (float64) –
  • current_position[] (float64) –
  • dist_to_lower[] (float64) –
  • dist_to_upper[] (float64) –
  • dist_to_closer[] (float64) – 
string[] joint_names
float64[] limits_lower
float64[] limits_upper
float64[] current_position
float64[] dist_to_lower
float64[] dist_to_upper
float64[] dist_to_closer
iai_control_msgs/MultiJointVelocityCommand
Field: 
Header header

# Command to move a set of velocity-resolved robot joints 
float32[] velocity     #joint velocity in rad/s
iai_control_msgs/CartState
Field:
  • running (bool) –
  • error (float64) –
  • error_pos (float64) –
  • error_rot (float64) –
  • vel_norm (float64) –
  • elapsed_seconds (float64) –
  • ee_frame_name (string) –
  • base_frame_name (string) –

Report the state of the cartesian controller

#Report the state of the cartesian controller
bool running   # Is the controller active?
float64 error  # Represents distance to the goal
float64 error_pos # norm of the cartesian position error
float64 error_rot # norm of the cartesian orientation error
float64 vel_norm # norm of the commanded velocity vector
float64 elapsed_seconds # time since the last goal was set

#geometry_msgs/PoseStamped goal_pose   # Has pose of the running goal
string ee_frame_name  # Frame at the end of the kin. chain
string base_frame_name # Frame at the beginning of the kin. chain

Action types

iai_control_msgs/PTU
Field (Goal):
Field (Result):
  • answer (string) –
Field (Feedback):
 
  • status (string) –

goal

#goal
geometry_msgs/PoseStamped pose
uint32 mode  # 0 = look at it once , 1 = follow the object
---
#result
string answer
---
#feedback
string status