sr_movements Documentation

sr_movements

Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).

• Homepage: http://wiki.ros.org/sr_movements

This package reads a specified bitmap and send targets by replaying the drawn movement.

It also receives an input topic and calculates the MSE for each cycle of the bitmap plot. The MSE is output to ROS_INFO and published in the topic mse_out.

For example, using a hand drawn png file will send targets between the specified min and max values on a (very) rough sinusoid. The black dot on each row represents the percentage between min and max. The top of the graph is 100% (=max), the bottom is 0% (=min)

How To run the node:

You can start the node by:

> rosrun sr_movements sr_movements /sr_movements/targets:=/sh_ffj3_mixed_position_velocity_controller/command /sr_movements/inputs:=/sh_ffj3_mixed_position_velocity_controller/state _image_path:="`rospack find sr_movements`/movements/test.png" _min:=.1 _max:=1.4 _publish_rate:=100 _repetition:=5 _nb_step:=1000 _msg_type:="sr"

ROS interface

Topics

Publishes /sr_movements/targets with the targets values.

Publishes /sr_movements/mse_out with the calculated MSE values.

Subscribe to /sr_movements/inputs to receive the data to calculate MSE.

Parameters

• image_path (path to the image file)
• min and max
• publish_rate
• repetition (number of times the movement is repeated)
• nb_step (number of samples taken from the image)
• msg_type (choose from "sr" or "pr2" to indicate whether it's a sr_robot_msgs or pr2_controllers_msgs state topic type)