eμ 6-Axis Manipulator's ROS Melodic Morenia Package
General Commands
| Action | ROS Topic | Message Type |
|---|---|---|
| Call methods in Core.py | emu/command | std_msgs/String |
| Print data in GUI | emu/log | std_msgs/String |
| Emu's actuators speed (10%-120%) | emu/speed_ratio | std_msgs/int8 |
| Emu's actuators acceleration (10%-120%) | emu/accel_ratio | std_msgs/int8 |
| Jog in configuration space | emu/jog/configuration | trajectory_msgs/JointTrajectoryPoint |
| Jog in cartesian space | emu/jog/cartesian | geometry_msgs/Twist |
| Emu's joint states | emu/joint_states | sensor_msgs/JointStates |
| Emu's motors and gripper status | emu/status1 | std_msgs/UInt8 |
| Emu's opendrain ports status | emu/status2 | std_msgs/UInt8 |
Module 8-9 2020 Related Commands
| Action | ROS Topic | Message Type |
|---|---|---|
| Predicted image of the right tray | emu/vision/right_tray | sensors_msgs/Image |
| Predicted image of the left tray | emu/vision/left_tray | sensors_msgs/Image |
| Trashes positions | emu/vision/trash_poses | geometry_msgs/PoseArray |
| Bin position | emu/vision/bin_poses | sensors_msgs/JointState |
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