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interbotix_xsarm_pid package from ros2-essentials repo

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API Docs
Browse Code

Package Summary

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

Repository Summary

Description A repo containing essential ROS2 Humble features for controlling Autonomous Mobile Robots (AMRs) and robotic arm manipulators.
Checkout URI https://github.com/j3soon/ros2-essentials.git
VCS Type git
VCS Version main
Last Updated 2025-02-20
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags docker robotics docker-compose ros isaac slam nvidia-docker ros2 isaacsim isaac-sim nav2 omniverse ros2-humble
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.

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