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twist_controller package from ros_controllers_cartesian repocartesian_interface cartesian_trajectory_controller cartesian_trajectory_interpolation ros_controllers_cartesian twist_controller |
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Package Summary
| Tags | No category tags. |
| Version | 0.1.7 |
| License | Apache-2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-14 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator.
It uses a Cartesian interface to the robot, so that the robot hardware takes care about
doing the inverse kinematics. This could be used e.g. for visual servoing applications.
Additional Links
Maintainers
- Stefan Scherzinger
- Felix Exner
Authors
- Felix Exner
- Stefan Scherzinger
Twist Controller
A Cartesian ROS-controller for commanding target twists to a robot.
This controller makes use of a TwistCommandInterface to set a user specified
twist message as reference for robot control.
Controller .yaml
A possible configuration looks like this:
twist_controller:
type: ros_controllers_cartesianlers/TwistController
# The controller uses this identifier to get the according command handle
# from the hardware interface.
frame_id: "endpoint_to_control"
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
Acknowledgement
Developed in collaboration between:
and
.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CHANGELOG
Changelog for package twist_controller
0.1.7 (2024-07-29)
0.1.6 (2024-06-12)
- add missing pluginlib (#16)
- Clean up package.xml files (#13)
- Contributors: Felix Exner, Hongzhuo Liang
0.1.5 (2021-12-02)
- Rename library target (#10) Using the [cartesian]{.title-ref} prefix for the library target shall avoid clashes with IPA's [cob_twist_controller]{.title-ref}.
- Contributors: Stefan Scherzinger
0.1.4 (2021-08-05)
- Add websites to package.xml files
- Update image paths of partner logos (#4)
- Contributors: Felix Exner
0.1.3 (2021-06-23)
- Fixed namespace of controller plugin (#3) It clearly contained a typo
- Contributors: Felix Exner
0.1.2 (2021-06-15)
- Remove more trailing whitespaces
- Contributors: Felix Exner
0.1.1 (2021-06-15)
- Removed trailing whitespaces from README's
- Contributors: Felix Exner
0.1.0 (2021-06-15)
- Initial release
- Contributors: Felix Exner, Stefan Scherzinger
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 |
|---|---|
| controller_interface | |
| pluginlib | |
| catkin | |
| cartesian_interface | |
| dynamic_reconfigure | |
| geometry_msgs | |
| hardware_interface | |
| realtime_tools | |
| roscpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ros_controllers_cartesian | |
| ur_robot_driver |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged twist_controller at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
twist_controller package from ros_controllers_cartesian repocartesian_interface cartesian_trajectory_controller cartesian_trajectory_interpolation ros_controllers_cartesian twist_controller |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.7 |
| License | Apache-2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-14 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator.
It uses a Cartesian interface to the robot, so that the robot hardware takes care about
doing the inverse kinematics. This could be used e.g. for visual servoing applications.
Additional Links
Maintainers
- Stefan Scherzinger
- Felix Exner
Authors
- Felix Exner
- Stefan Scherzinger
Twist Controller
A Cartesian ROS-controller for commanding target twists to a robot.
This controller makes use of a TwistCommandInterface to set a user specified
twist message as reference for robot control.
Controller .yaml
A possible configuration looks like this:
twist_controller:
type: ros_controllers_cartesianlers/TwistController
# The controller uses this identifier to get the according command handle
# from the hardware interface.
frame_id: "endpoint_to_control"
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
Acknowledgement
Developed in collaboration between:
and
.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CHANGELOG
Changelog for package twist_controller
0.1.7 (2024-07-29)
0.1.6 (2024-06-12)
- add missing pluginlib (#16)
- Clean up package.xml files (#13)
- Contributors: Felix Exner, Hongzhuo Liang
0.1.5 (2021-12-02)
- Rename library target (#10) Using the [cartesian]{.title-ref} prefix for the library target shall avoid clashes with IPA's [cob_twist_controller]{.title-ref}.
- Contributors: Stefan Scherzinger
0.1.4 (2021-08-05)
- Add websites to package.xml files
- Update image paths of partner logos (#4)
- Contributors: Felix Exner
0.1.3 (2021-06-23)
- Fixed namespace of controller plugin (#3) It clearly contained a typo
- Contributors: Felix Exner
0.1.2 (2021-06-15)
- Remove more trailing whitespaces
- Contributors: Felix Exner
0.1.1 (2021-06-15)
- Removed trailing whitespaces from README's
- Contributors: Felix Exner
0.1.0 (2021-06-15)
- Initial release
- Contributors: Felix Exner, Stefan Scherzinger
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 |
|---|---|
| controller_interface | |
| pluginlib | |
| catkin | |
| cartesian_interface | |
| dynamic_reconfigure | |
| geometry_msgs | |
| hardware_interface | |
| realtime_tools | |
| roscpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ros_controllers_cartesian | |
| ur_robot_driver |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found