arm Documentation

arm: The arm package controls the ARM and creates movement commands.

arm is a ROS package for controlling a Manus ARM. The package consists of one control node and two teleop nodes. You must have a Manus ARM properly connected and configured in order for this package to be of any use. You must have both a teleop node and the control node running in order to move the ARM. There is a node for keyboard teleop and a node for neuron dish activity teleop.

• Homepage: http://ros.org/wiki/arm

arm is a ROS package for controlling a Manus ARM. The package consists of one control node and two teleop nodes. You must have a Manus ARM properly connected and configured in order for this package to be of any use. You must have both a teleop node and the control node running in order to move the ARM. There is a node for keyboard teleop and a node for neuron dish activity teleop.

codeapi

• Run the ARM control node by creating an ArmControl object.
• Run the dish teleop node by creating a TeleopArmDish object.
• Run the keyboard teleop node by creating a TeleopArmKey object.

• To get an instance of the ARM: ManusArm::instance
• To init the ARM: ManusArm::init
• To move the ARM: ManusArm::moveCartesian and ManusArm::moveConstant
• To check if cartesian movement is finished: ManusArm::isMoveComplete
• To end cartesian movement early: ManusArm::setMoveComplete
• To fold/unfold: ManusArm::fold and ManusArm::unfold
• To get joint positions: ManusArm::getPrintState and ManusArm::getCsvState

rosapi

List of nodes:

• arm_control
• teleop_arm_dish
• teleop_arm_key

---

arm_control

arm_control controls the ARM. It receives movement commands from teleop nodes and moves the arm hardware appropriately.

Usage

$ rosrun arm arm_control

topics

Subscribes to:

• "cartesian_moves": [arm/cartesian_moves] cartesian movement commands
• "constant_moves": [arm/constant_move] constant movement commands
• "constant_move_times": [arm/constant_move_time] constant movement by time commands

Publishes to:

• N/A

parameters

Reads the following parameters from the parameter server

• N/A

Sets the following parameters on the parameter server

• N/A

services

• "time_service": [time_server/time_srv] polls system time to keep the node in sync

---

teleop_arm_dish

teleop_arm_dish creates movement commands for the arm based on CAT (center of activity trajectory) data received from the CAT creator node.

Usage

$ rosrun arm teleop_arm_dish

topics

Subscribes to:

• "cats": [burst_calc/cat] center of activity trajectories

Publishes to:

• "cartesian_moves": [arm/cartesian_moves] cartesian movement commands
• "constant_move_times": [arm/constant_move_time] constant movement by time commands

parameters

Reads the following parameters from the parameter server

• arm_speed
• arm_safe_range
• max_range_from_midpoint

Sets the following parameters on the parameter server

• N/A

services

• "time_service": [time_server/time_srv] polls system time to keep the node in sync

---

teleop_arm_key

teleop_arm_key creates movement commands for the arm based on keyboard input.

Usage

$ rosrun arm teleop_arm_key

topics

Subscribes to:

• N/A

Publishes to:

• "constant_moves": [arm/constant_move] constant movement commands

parameters

Reads the following parameters from the parameter server

• N/A

Sets the following parameters on the parameter server

• N/A

services

• N/A

Command-line tools

There are several launch files available to simplify running all of the nodes. Each launch file has a corresponding parameter file. They are as follows:

• brian_csv.launch
• brian_sim.launch
• csv.launch
• volt_only_brian_csv.launch
• volt_only_brian_sim.launch
• volt_only_csv.launch

Usage

$ roslaunch [package] [file]

Example

$ roslaunch arm csv.launch