QB Robotics qbmove Advanced Kit, User Manual

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83
28 aprile 2021
false
) and make a call to the Communication Handler
activate_motors
Service, when
your system is ready, e.g. as follows:
rosservice call /communication_handler/activate_motors {"id: <ac
tual_device_id>, max_repeats: 0"}
Additional arguments
•
control_duration [0.01] :
The duration of the control loop expressed in
seconds.
•
get_currents [true] : Choose whether or not to retrieve current
measurements from the device.
•
get_positions [true] : Choose whether or not to retrieve position
measurements from the device.
•
get_distinct_packages [false] :
Choose whether or not to retrieve
current and position measurements from the device in two distinct packages.
•
max_repeats [3] : The maximum number of consecutive repetitions to mark
retrieved data as corrupted.
•
set_commands [true] :
Choose whether or not to send command positions to
the device.
•
set_commands_async [false] :
Choose whether or not to send commands
without waiting for ack.
•
use_rviz [true]: Choose whether or not to use rviz. If enabled you should see
a virtual qbmove on screen performing a similar behavior, i.e. moving the shaft and
both the actuators accordingly.
When the ROS Node is started by using the above `roslaunch` command it is possible to send a
simple position and stiffness command through the given command Topic, as follow:
rostopic pub -1 /qbmove1/control/qbmove1_position_and_preset_tra
jectory_controller/command trajectory_msgs/JointTrajectory "head
er:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names: [qbmove1_shaft_joint, qbmove1_stiffness_preset_virt
ual_joint]
points:
- positions: [0.5,0.5]
velocities: [0,0]
accelerations: [0,0]
effort: [0,0]
time_from_start: {secs: 1, nsecs: 0}"