annin_ar4_driver
- The annin_ar4_driver package provides the hardware interface for
running an AR4 robot using the ros2_control software framework.
Links
README
annin_ar4_driver
This module contains the hardware interface for the AR4 robot.
Position Controller
The hardware_interface implements a Position Joint Trajectory Controller from the ros_control framework. It serves as an interface between the higher level planning (MoveIt) and the actuator driver (Teensy driver).
Joint Encoder Calibration
You can skip the automatic encoder calibration sequence with the launch
argument calibrate:=false. Since the original encoders (AMT-102V) are
relative encoders, they need to be calibrated against the limit switches when
powered on. If you are restarting the software but not the Teensy, the encoders
will have remained powered on and do not need to be recalibrated. Alternatively,
you can change the REST_ENC_POSITIONS values in the Teensy sketch so that the
encoders are initialised to those values on startup, provided that your arm is
also always initialised in that position as well. Before starting any movements,
it is always good to check in RViz that the model is in a sensible position to
verify that the encoders are properly calibrated.