Comments (5)
Indeed it "can" send/receive any iiwa_msgs right away.
The ROSSmartServo applications was born as an exemplary application, it shows how to send and receive JointPosition messages. It contains instances of iiwaPublisher and iiwaSubscriber and they do the job, for example at line 135 subscriber.getJointPosition()
it will give you the last commanded JointPosition. iiwaSubscriber has all the interfaces necessary to obtain any iiwa_msgs and do what you need to do with them. The method publish()
of iiwaPublisher, will just publish any iiwa_msgs previously set (but only if a subscriber is listening).
In general, once you get a clear idea of the stack in the master branch I would suggest you to use the development one. There, ROSSmartServo already publishes the complete state of the robot and it allows robot control both with JointPosition and CartesianPosition (actually, iiwa_msgs is also different there), with a seamless transition between the two.
That branch has a lot of bug fixes and better functionalities than master, the downside is the nothing is documented in the wiki, but with some knowledge on ROS and the KUKA APIs it should be easy to use.
from iiwa_stack.
More on that, we will probably merge the devel branch into master this week.
from iiwa_stack.
In the master branch it was possible to command the robot only in joint position mode. In development we added cartesian control, and we also switched back to standard ROS messages when a custom type is not necessary.
We will specify the possible control modes after merging development into master. Thank you for asking!
from iiwa_stack.
New version of the framework is now in the master branch.
Also updated readme and wiki, hopefully they are more complete and clear now.
from iiwa_stack.
Interesting, thanks for the updates
from iiwa_stack.
Related Issues (20)
- Is it possible to access the I/O-groups? HOT 1
- Using iiwa_moveit results in a jerky motion HOT 4
- Q: What is [override_joint_acceleration] in SetSmartServoJointSpeedLimits.srv HOT 1
- Compatability with kuka med 7 HOT 1
- Python MoveIt integration
- Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'? HOT 1
- ‘ConfigureControlMode’ is not a member of ‘iiwa_msgs’ HOT 1
- Use of DirectServo instead of SmartServo? HOT 1
- Can't find the srv about “configuresmartservo” in ROS Noetic. HOT 1
- Problems with the accuracy of the desired force mode
- Installing the Servoing module in Workbench / Is it mandatory to have a Windows 7 machine as the Programming computer? HOT 1
- iiwa_stack ip configuration issue
- Direct Servo Joints Control Implementation
- Diect publish joint positions HOT 2
- Errors using Gazebo and iiwa_stack examples
- Smooth Velocity Control using iiwa/command/JointVelocity HOT 4
- Creating safety configuration
- subscribe the sensor data not in real time
- who can really use this stack to communicate with kuka iiwa robot smoothly???
- Suspect setMaxCartesianVelocity ought to actually call the service
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from iiwa_stack.