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interbotix_xsarm_pid package from ros2-essentials repo

interbotix_footswitch_driver interbotix_footswitch_msgs interbotix_ros_slate interbotix_slate_driver interbotix_slate_msgs dynamixel_workbench_toolbox interbotix_ros_xseries interbotix_xs_driver interbotix_xs_msgs interbotix_xs_sdk interbotix_ros_xsarms_examples interbotix_xsarm_diagnostic_tool interbotix_xsarm_dual interbotix_xsarm_dual_joy interbotix_xsarm_joy interbotix_xsarm_moveit_interface interbotix_xsarm_pid interbotix_xsarm_puppet interbotix_ros_xsarms interbotix_xsarm_control interbotix_xsarm_descriptions interbotix_xsarm_moveit interbotix_xsarm_perception interbotix_xsarm_ros_control interbotix_xsarm_sim interbotix_common_modules interbotix_common_sim interbotix_common_toolbox interbotix_landmark_modules interbotix_moveit_interface interbotix_moveit_interface_msgs interbotix_tf_tools interbotix_io_modules interbotix_io_toolbox interbotix_perception_modules interbotix_perception_msgs interbotix_perception_pipelines interbotix_perception_toolbox interbotix_rpi_modules interbotix_rpi_msgs interbotix_rpi_toolbox interbotix_xs_modules interbotix_xs_ros_control interbotix_xs_rviz interbotix_xs_toolbox moveit_visual_tools cartographer_demo multi_lidar_desp multi_lidar_gazebo aws_robomaker_hospital_world aws_robomaker_small_house_world aws_robomaker_small_warehouse_world citysim clearpath_playpen gazebo_launch turtlebot3_gazebo lms1xx husky_base husky_bringup husky_control husky_description husky_desktop husky_gazebo husky_msgs husky_navigation husky_robot husky_simulator husky_viz cmd_vel_mux ecl_command_line ecl_concepts ecl_containers ecl_converters ecl_core ecl_core_apps ecl_devices ecl_eigen ecl_exceptions ecl_filesystem ecl_formatters ecl_geometry ecl_ipc ecl_linear_algebra ecl_manipulators ecl_math ecl_mobile_robot ecl_mpl ecl_sigslots ecl_statistics ecl_streams ecl_threads ecl_time ecl_type_traits ecl_utilities ecl_config ecl_console ecl_converters_lite ecl_errors ecl_io ecl_lite ecl_sigslots_lite ecl_time_lite kobuki_core kobuki_keyop kobuki_node kobuki_ros kobuki_ros_interfaces sophus kobuki_control kobuki_description kobuki_gazebo kobuki_launch kobuki_navigation kobuki_rviz velodyne_description velodyne_gazebo_plugins velodyne_simulator rtabmap_sim minimal_pkg turtlebot3 turtlebot3_bringup turtlebot3_cartographer turtlebot3_description turtlebot3_example turtlebot3_navigation2 turtlebot3_node turtlebot3_teleop turtlebot3_cartographer_ex turtlebot3_fake_node turtlebot3_simulations vlp_cartographer

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/j3soon/ros2-essentials.git
VCS Type git
VCS Version main
Last Updated 2025-02-20
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

The interbotix_xsarm_pid package

Additional Links

No additional links.

Maintainers

  • Luke Schmitt

Authors

  • Solomon Wiznitzer
aloha_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_pid/README.md

interbotix_xsarm_pid

docs

Overview

This package can be used as a way to test ‘pwm’ or ‘current’ PID gains when operating the arm in either ‘pwm’ or ‘current’ mode. PID gains are read into the controller node from the gains.yaml file. The node then commands the arm to its ‘home’ pose and waits ten seconds for it to settle. Then it commands the arm to its ‘sleep’ pose and waits another ten seconds for it to settle. Finally, the node commands all the motors to either zero pwm or zero current (effectively torquing them off) before shutting itself down.

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
interbotix_xs_msgs
interbotix_xsarm_control
roscpp
sensor_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/xsarm_pid.launch
      • robot_model [default: ]
      • robot_name [default: $(arg robot_model)]
      • base_link_frame [default: base_link]
      • use_rviz [default: true]
      • mode_configs [default: $(find interbotix_xsarm_pid)/config/modes.yaml]
      • control_mode [default: pwm]
      • gains_filepath [default: $(find interbotix_xsarm_pid)/config/gains.yaml]
      • launch_driver [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged interbotix_xsarm_pid at Robotics Stack Exchange

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