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Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Author: Stuart Glaser
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/tags/pr2_controllers-1.4.0
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/branches/pr2_controllers-1.6
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/PR2/pr2_controllers.git (branch: hydro-devel)
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: indigo-devel)
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: kinetic-devel)
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Package Summary
The single joint position action is a node that provides an action interface for commanding a trajectory to move a joint to a particular position. The action reports success when the joint reaches the desired position.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Contents
See also robot_mechanism_controllers/JointSplineTrajectoryController, which is used by this action.
Usage
You can find an example of using the single joint position action on the PR2 in the Moving the Torso tutorial.
ROS API
The ROS API consists of three parts: private parameters, an action server that achieves position goals, and an interface to a trajectory controller.
Parameters
Parameters
~joint (string, default: Required)- The joint to command
- The maximum distance from the goal at which to report success.
Action interface
The joint trajectory action provides an action server (see actionlib) that takes in goals of the type pr2_controllers_msgs/SingleJointPositionGoal.
Subscribed Topics
~position_joint_action/goal (pr2_controllers_msgs/SingleJointPositionActionGoal)- The goal describes the position for the robot to achieve
- A request to cancel a specific goal.
Published Topics
~position_joint_action/feedback (pr2_controllers_msgs/SingleJointPositionActionFeedback)- Feedback describing the progress the mechanism is making on reaching the goal position
- Provides status information on the goals that are sent to the action.
- empty
Controller interface
Subscribed Topics
~state (pr2_controllers_msgs/JointTrajectoryControllerState)- Listens to the state of the controller.
Published Topics
~command (trajectory_msgs/JointTrajectory)- Sends joint trajectories to the controller.
