ee_cart_imped: ee_cart_imped_action | ee_cart_imped_control | ee_cart_imped_launch | ee_cart_imped_msgs
Stack Summary
Stack for a controller that does force/impedance end effector Cartesian control.
- Author: Maintained by Jenny Barry, Mario Bollini, and Huan Liu
- License: BSD
- Repository: mit-ros-pkg
- Source: svn https://svn.csail.mit.edu/mit-ros-pkg/trunk/ee_cart_imped
Contents
Documentation
This stack implements a controller that executes trajectories for force/impedance control of the end effector of a chain of joints. Each point on the trajectory specifies a wrench or a stiffness around a Cartesian degree of freedom as well as a Cartesian position and orientation.
The stack contains four packages. For details, see the wiki pages of the individual packages:
ee_cart_imped_control: The realtime controller
ee_cart_imped_action: The action wrapper around the controller. All interaction with the controller should be done through this action.
ee_cart_imped_msgs: Action definition and other controller messages.
ee_cart_imped_launch: Useful launch files for the package.
Downloading
The ee_cart_imped stack is part of the mit-ros-pkg repository. To download the most recent version of the stack without downloading the whole repository, navigate to a directory on your ROS_PACKAGE_PATH where you want the stack installed and type:
svn co `roslocate uri ee_cart_imped`
If you are using an older version of roslocate, the uri command might not be supported. In that case, you can download the stack using
svn co `roslocate svn ee_cart_imped`
Upgrading from a Previous Version
In September, 2011 we found that the controller had a race condition that could cause the robot to crash if given many goals in quick succession. This has been fixed in all code available after October, 2011. If you downloaded the code before October, 2011, we strongly recommend you upgrade to a newer version. There are currently two newer versions available:
CTurtle release (version 0.1): This release contained a race condition. Please upgrade to one of the other two releases.
Diamondback release (version 0.2): This release was intended to be as backwards compatible as possible to the initial 0.1 release. The ee_cart_imped_msgs/StiffPoint message had to be changed, but any code that worked through only the EECartImpedArm interface will not need to be changed. To download this release, you must check it out from the mit-ros-pkg tags directory:
svn co https://svn.csail.mit.edu/mit-ros-pkg/tags/diamondback/ee_cart_imped-0.2.1-10-7-11
Electric release (version 1.1): This release changed the structure of the ee_cart_imped stack. It may not backwards compatible version 0.1 code, especially if the code did not go only through the EECartImpedArm class. To download this release, you can use the downloading instructions or check it out from the mit-ros-pkg tags directory:
svn co https://svn.csail.mit.edu/mit-ros-pkg/tags/electric/ee_cart_imped-1.1.0-10-7-11
Using the Stack
For instructions on using the stack, see the wiki pages of the individual packages or look at the tutorials. These tutorials were written for the electric release.
Report a Bug
Please contact the stack maintainers directly to report a bug.