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aero_samples

aero_samples

  • Author: Shintaro Hori

Description

This package provides sample code to use aero_std

Sample nodes

minimum_sample_node

This is the minimum sample to use aero_moveit_interface, sends only ResetManipPose.

fk_sample_node

Forward Kinematics (FK) sample.

ik_sample_node

Inverse Kinematics (IK) sample.

interpolation_sample_node

aero_moveit_interface has some different interpolation mode. This sample shows how to switch interpolation mode to Linear and Sigmoid.

hand_sample_node

Hand control sample.

look_at_sample_node

"Look at" means to move head angle forwarding designated target e.g. robot hand.

look_at_external_sample_node

This is target tracking sample using static target or external topic (geometry_msgs/Pose).

top_grasp_sample_node

Top grasp sample using aero::TopGrasp.

side_grasp_sample_node

Side grasp sample using aero::SideGrasp.

trajectory_lifter_sample_node

This sample is to set lifter trajectory.

go_pos_sample_node

Wheel mover sample. This requires to launch aero_startup/wheel_with_making_map.launch.

async_sample_node

Asynchronous control sample.

async_lifter_cancel_node

Asynchronous lifter control (send goal / cancel) sample.

set_marker_sample_node

This is sample to use aero::vision::ObjectFeatures.

Test nodes

All tests recommend to use real robot.

stoa_atos_test_node

Test for interconversion of Stroke2Angle and Angle2Stroke.

fullbody_test_node

Full body joint control test.

lifter_ik_test_node

Lifter control test.

upper_controller_test_node

Upper body control test.