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Robot control
benkehoe edited this page Feb 28, 2013
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This page describes the processes by which commands are sent to and processed by the Raven. For the controllers that execute these commands, see controllers. For the masters that can be used with the Raven, see raven_2_teleop.
The network thread listens to the network on port 36000 for UDP packets. These are sent, for example, by the Phantom Omnis, using the master code found here.
##ROS
The Raven subscribes to RavenCommand messages on the topic raven_command.
The Raven subscribes to PoseStamped messages on the topic raven_command/pose/<ARM>, where <ARM> is the name of the arm to be controlled. Similarly, it subscribes to Float32 messages on the topic raven_command/grasp/<ARM> for specifying the grasp value.