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cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 4.7.1
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2025-03-17
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

  • Hyunseok Yang

Authors

  • Hyunseok Yang
cloisim_ros_joint_control/README.md

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
cloisim_ros_bringup_param
cloisim_ros_base
std_srvs
std_msgs
sensor_msgs
control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cloisim_ros_joint_control at Robotics Stack Exchange

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