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cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_light | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_tray_sensors | cob_undercarriage_ctrl | cob_utilities

Package Summary

This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].

• Author: Alexander Bubeck
• License: LGPL
• Repository: care-o-bot
• Source: git git://github.com/ipa320/cob_driver.git

ROS API

cob_trajectory_controller

The cob_trajectory_controller node takes in trajectory_msgs/JointTrajectory messages and converts this to velocity commands to the hardware driver.

Action Goal

joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal)

• The goal describes the trajectory for the robot to follow.

Action Result

joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)

• empty

Action Feedback

joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)

• empty

Published Topics

/joint_states (sensor_msgs/JointState)

• Publishes the joint states of all modules.

command_vel (brics_actuator/JointVelocities)

• Publishes the velocity commands for the hardware driver.

Services

set_joint_velocity (cob_trajectory_controller/SetFloat)

• Sets the maximum velocity in joint space.

set_joint_acceleration (cob_trajectory_controller/SetFloat)

• Sets the maximum acceleration in joint space.

Parameters

~ptp_vel (double, default: Required)

• Maximum velocity in joint space.

~ptp_acc (double, default: Required)

• Maximum acceleration in joint space.

~max_error (double, default: Required)

• Maximum allowed deviation from trajectory before controller is stopped.