Only released in EOL distros:
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
GPL license
- Author: Henning Deeken
- License: GPL
- Source: git http://kos.informatik.uni-osnabrueck.de/katana_driver.git (branch: electric)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
GPL license
- Author: Henning Deeken
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: fuerte)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
GPL license
- Author: Henning Deeken
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: groovy)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
- Maintainer status: developed
- Maintainer: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- Author: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: hydro_catkin)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
- Maintainer status: developed
- Maintainer: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- Author: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: indigo_catkin)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
- Maintainer status: developed
- Maintainer: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- Author: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: jade)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
- Maintainer status: developed
- Maintainer: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- Author: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: kinetic)
Package Summary
This package provides tele-operation nodes to control the Neuronics Katana 450 arm via keyboard commands or with a playstation 3 controller.
- Maintainer status: developed
- Maintainer: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- Author: Henning Deeken <hdeeken AT uni-osnabrueck DOT de>
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: lunar)
ROS API
This package provides the katana_teleop_key ROS node, which provides a keyboard-based teleoperation for the Neuronics Katana 450 arm.
katana_teleop_key
This nodes provides keyboard-based teleoperation of a Neuronics Katana 450 arm.Subscribed Topics
joint_states (sensor_msgs/JointState)- The node subscribes to the joint_states topic and alters the joint state according to the keyboard input.
Parameters
increment (double, default: 0.017453293)- gives the value by which the joint position will be altered, by default: 0.017453293 rad = 1 degree
- gives the value by which the increment can be increased/decreased, by default: 0.017453293 rad = 1 degree
- gices the value by which the increment_stepsize can be scaled while in/decreasing the increment
Usage
- Press 'ws' to increase/decrease the joint position about one increment
- Press 'ad' to switch to the next/previous joint * Press '0-5' to choose a joint/gripper
- Press '+#' to alter the increment by a +1/-1 increment_step_size * increment_step_scaling
- Press ',.' to alter the scaling factor by -/+ 1.0
- Press 'r' to return to the arm's initial pose
- Press 'i' to display this manual and the current joint state
- Press 'q' to shutdown the node (the arm will be reset to it's initial pose first)
- NOTICE: this initial position might not be a proper resting pose to switch off the arm's power supply
