kortex_driver
ROS2 driver package for the Kinova Robot Hardware.
Links
README
ROS 2 Kortex Driver
The ROS 2 Kortex driver implements the ros2_control
hardware interface for a SystemInterface
.
Command interfaces
This driver exports commands interfaces for position, velocity, and effort interfaces for each joint defined in the URDF.
Additionally, twist interfaces are exported for the end effector for operational space control.
Several additional interfaces are exported, including set_gripper_max_velocity
, set_gripper_max_effort
for the gripper joint,
reset_fault/command
, and reset_fault/async_success
for fault management.
State interfaces
This driver exports position and velocity state interfaces for joint defined in the URDF.
Additionally, one state interface reset_fault/internal_fault
is used for determining the robot’s fault state.