jaco_arm_trajectory_node.h File Reference

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/server/simple_action_server.h>
#include <boost/foreach.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/GripperCommandAction.h>
#include <ecl/geometry.hpp>
#include <wpi_jaco_msgs/AngularCommand.h>
#include <wpi_jaco_msgs/CartesianCommand.h>
#include <wpi_jaco_msgs/EStop.h>
#include <wpi_jaco_msgs/GetAngularPosition.h>
#include <wpi_jaco_msgs/GetCartesianPosition.h>
#include <wpi_jaco_msgs/HomeArmAction.h>
#include <wpi_jaco_msgs/JacoFK.h>
#include <wpi_jaco_msgs/QuaternionToEuler.h>
#include <sensor_msgs/JointState.h>
#include <std_msgs/Bool.h>
#include <std_srvs/Empty.h>
#include <jaco_sdk/Kinova.API.UsbCommandLayerUbuntu.h>

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Classes
class	jaco::JacoArmTrajectoryController
Namespaces
namespace	jaco
Defines
#define	ANGULAR_CONTROL   1
#define	CARTESIAN_CONTROL   2
#define	DEG_TO_RAD   (M_PI/180)
#define	ERROR_THRESHOLD   .03
#define	KI_F   0.1
#define	KP   300.0
#define	KP_F   7.5
#define	KV   20.0
#define	KV_F   0.05
#define	LARGE_ACTUATOR_VELOCITY   0.8378
#define	NO_ERROR   1
#define	NUM_JACO_JOINTS   6
	Provides for trajectory execution and gripper control of the JACO arm.
#define	RAD_TO_DEG   (180/M_PI)
#define	SMALL_ACTUATOR_VELOCITY   1.0472
#define	TIME_SCALING_FACTOR   1.5

---

Define Documentation

#define ANGULAR_CONTROL   1

Definition at line 58 of file jaco_arm_trajectory_node.h.

#define CARTESIAN_CONTROL   2

Definition at line 59 of file jaco_arm_trajectory_node.h.

#define DEG_TO_RAD   (M_PI/180)

Definition at line 44 of file jaco_arm_trajectory_node.h.

#define ERROR_THRESHOLD   .03

Definition at line 50 of file jaco_arm_trajectory_node.h.

#define KI_F   0.1

Definition at line 55 of file jaco_arm_trajectory_node.h.

#define KP   300.0

Definition at line 48 of file jaco_arm_trajectory_node.h.

#define KP_F   7.5

Definition at line 53 of file jaco_arm_trajectory_node.h.

#define KV   20.0

Definition at line 49 of file jaco_arm_trajectory_node.h.

#define KV_F   0.05

Definition at line 54 of file jaco_arm_trajectory_node.h.

#define LARGE_ACTUATOR_VELOCITY   0.8378

Definition at line 40 of file jaco_arm_trajectory_node.h.

#define NO_ERROR   1

Definition at line 61 of file jaco_arm_trajectory_node.h.

#define NUM_JACO_JOINTS   6

Provides for trajectory execution and gripper control of the JACO arm.

.h jaco_arm_trajectory_node creates a ROS node that provides trajectory execution and gripper control through the Kinova API, and smooth trajectory following through a velocity controller.

Author:

David Kent, GT - dekent@gatech.edu

Mitchell Wills, WPI - mwills@wpi.edu

Definition at line 38 of file jaco_arm_trajectory_node.h.

#define RAD_TO_DEG   (180/M_PI)

Definition at line 45 of file jaco_arm_trajectory_node.h.

#define SMALL_ACTUATOR_VELOCITY   1.0472

Definition at line 41 of file jaco_arm_trajectory_node.h.

#define TIME_SCALING_FACTOR   1.5

Definition at line 42 of file jaco_arm_trajectory_node.h.