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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for OpenManipulator with TB3

ROS API

pick

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State)

• Subscribe state of manipulator

open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State)

• Subscribe state of gripper

ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)

• Subscribe marker pose

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition)

• Set present joint position

open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)

• Set present kinematics pose of manipulator

open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition)

• Set present gripper posotion

open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick)

• Commands starts pick up task

open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick)

• Show results of pick up task

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)

• Set robot name

/marker_id (int, default: 8)

• Set marker id

/offset_for_object_height (float, default: 0.150)

• Set offset for object height

/dist_ar_marker_to_object (float, default: 0.049)

• Set distance between ar marker to object

place

Subscribed Topics

open_manipulator_with_tb3/arm_state (open_manipulator_msgs/State)

• Subscribe state of manipulator

open_manipulator_with_tb3/gripper_state (open_manipulator_msgs/State)

• Subscribe state of gripper

ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)

• Subscribe marker pose

Services

open_manipulator_with_tb3/set_joint_position (open_manipulator_msgs/SetJointPosition)

• Set present joint position

open_manipulator_with_tb3/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)

• Set present kinematics pose of manipulator

open_manipulator_with_tb3/set_gripper_position (open_manipulator_msgs/SetJointPosition)

• Set present gripper position

open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place)

• Set task start commands

open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place)

• Show results of place

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)

• Set robot name

/marker_id (int, default: 8)

• Set marker id

/offset_for_object_height (float, default: 0.200)

• Set offset for object height

/dist_ar_marker_to_object (float, default: 0.070)

• Set distance between ar marker to object

controller_for_pick_and_place

Subscribed Topics

open_manipulator/node_control_trigger (std_msgs/String)

• Subscribe commands to start controller node

move_base/result (move_base_msgs/MoveBaseActionResult)

• Subscribe result of move base

ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)

• Subscribe marker pose

odom (nav_msgs/Odometry)

• Subscribe odometry data

Published Topics

/cmd_vel (geometry_msgs/Twist)

• Publish velocity

Services

open_manipulator_with_tb3/result_of_pick_up (open_manipulator_with_tb3_msgs/Pick)

• Show results of pick up task

open_manipulator_with_tb3/result_of_place (open_manipulator_with_tb3_msgs/Place)

• Show results of place

open_manipulator_with_tb3/pick (open_manipulator_with_tb3_msgs/Pick)

• Set task start commands

open_manipulator_with_tb3/place (open_manipulator_with_tb3_msgs/Place)

• Set task start commands

Parameters

/use_robot_name (string, default: open_manipulator_with_tb3)

• Set robot name

/marker_id (int, default: 8)

• Set marker id

/distance_btw_base_to_ar_marker (float, default: 0.170)

• Set distance between base to ar marker

/rotate_after_pick_up (float, default: 175.0)

• Set degree for rotating after pick up

/position_x_in_front_up_an_object (float, default: -1.393)

• Set goal position(x)

/position_y_in_front_up_an_object (float, default: 3.545)

• Set goal position(y)

/position_z_in_front_up_an_object (float, default: 0.0)

• Set goal position(z)

/orientation_w_in_front_up_an_object (float, default: 0.705)

• Set goal orientation(w)

/orientation_x_in_front_up_an_object (float, default: 0.0)

• Set goal orientation(x)

/orientation_y_in_front_up_an_object (float, default: 0.0)

• Set goal orientation(y)

/orientation_z_in_front_up_an_object (float, default: 0.709)

• Set goal orientation(z)

/position_x_in_front_up_a_box (float, default: 0.760)

• Set goal position(x)

/position_y_in_front_up_a_box (float, default: 3.670)

• Set goal position(y)

/position_z_in_front_up_a_box (float, default: 0.0)

• Set goal position(z)

/orientation_w_in_front_up_a_box (float, default: 0.705)

• Set goal orientation(w)

/orientation_x_in_front_up_a_box (float, default: 0.0)

• Set goal orientation(x)

/orientation_y_in_front_up_a_box (float, default: 0.0)

• Set goal orientation(y)

/orientation_z_in_front_up_a_box (float, default: 0.709)

• Set goal orientation(z)