QB Robotics qbmove Advanced Kit, User Manual

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84
28 aprile 2021
The followings are particular control modes which are enabled with few parameters, but the
concepts of this paragraph hold for all of them.
6.5.2.5 GUI Control
This control mode is the simpler and the one suggested to test that everything is working as
expected. You are able to move the
qbmove shaft position and its stiffness interactively, but
nothing more than this.
You will probably need this only the very first times and for debugging.
To start this mode just add use_controller_gui:=true to the general roslaunch
command (be sure that the opposite use_waypoints is not used).
After a while a GUI should appear to screen with two empty dropdown menus, a red enable
button below them, and a
speed scaling slider at the bottom.
1.
Select the Controller Manager namespace from the left menu, e.g.
/<robot_namespace>/control/controller_manager (where
<robot_namespace>
is an additional argument of the launch file needed with
several devices). This enables the right menu which provides all the controllers
available for the connected device.
2.
Select the qbmove controller from the second dropdown menu and enable it through
the circular button.
3.
Two slider will appear in the GUI: the first controls the shaft position (which ranges
respectively within the shaft position limits expressed in radians), while the second
sets the stiffness preset, which ranges from
0 (lowest stiffness) to 1 (highest
stiffness). You can also vary the speed through the bottom speed scaling slider if you
like a faster/slower motion. No other timing constraints can be set in this mode.
Figure 6-14: Example of GUI to control the qbmove (0.42 rad for the shaft position and 12% stiffness value)