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This package is part of ROS/IOP Bridge.

fkie_iop_client_stabilizer_driver: StabilizerDriverClient

A simple interface to control a set of flipper of a robot by velocity effort or position. The flippers can be controlled by sensor_msgs::JointState or std_msgs::Float64MultiArray messages. Both messages are published, so be sure to subscribe only one of them.

Parameter:

hz (int Default: 1.0)

Sets how often the reports are requested. If use_queries is True hz must be greather then 0. In this case each time a Query message is sent to get a report. If use_queries is False an event is created to get Reports. In this case 0 disables the rate and an event of type on_change will be created.

joint_names (list Default: [])

Specifies a list with joint names. This is important to identify the positon in JointState messages. If no names are specified they will be generated from reported capabilities from the robot.

Publisher:

joint_states (sensor_msgs::JointState)

Reports the position and/or velocity.

Subscriber:

cmd_joint_states (sensor_msgs::JointState)

Control flipper by position or velocity. For joint names see the parameter joint_names.

flipper_velocity_controller/command (std_msgs::Float64MultiArray)

Control flipper by velocity. The count of values should be lesser than reported from robot.