kortex_driver

ROS2 driver package for the Kinova Robot Hardware.

• C++ API
  • Class Hierarchy
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  • Full C++ API
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  • CHANGELOG
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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.