OpenManipulator-P机械臂入门教程-消息列表

说明

• 介绍OpenManipulator发布的topic、订阅的topic和service等

Topic

• Topic Monitor

• 通过ROS中的rqt来查看topic list中的topic状态

• 运行rpt

$ rqt

• 提示：最大化rqt窗口，在左上角的选项中选择plugin- > Topics- > Topic Monitor。点击topic左边的复选框选择需要监听的topic

• 没有复选标记的主题将不会被监控。 要监控主题，请单击下一步的复选框。

• 如果您想查看有关主题消息的更多详细信息，请单击每个复选框旁边的 ▶ 按钮。

话题列表

• 发布的话题列表：

/open_manipulator/states
/open_manipulator/joint_states
/open_manipulator/gripper/kinematics_pose
/open_manipulator/*joint_name*_position/command
/open_manipulator/rviz/moveit/update_start_state

• 话题说明

/open_manipulator/joint_states(sensor_msgs/JointState) is a message indicating the states of joints of OpenMANIPULATOR-P. “name” indicates joint component names. “effort” shows currents of the joint DYNAMIXEL. “position” and “velocity” indicates angles and angular velocities of joints.

/open_manipulator/gripper/kinematics_pose(open_manipulator_msgs/KinematicsPose) is a message indicating pose (position and orientation) in task space. “position” indicates the x, y and z values of the center of the end-effector (tool). “Orientation” indicates the direction of the end-effector (tool) as quaternion.

/open_manipulator/states(open_manipulator_msgs/OpenManipulatorState) is a message indicating the status of OpenMANIPULATOR-P. “open_manipulator_actuator_state” indicates whether actuators (DYNAMIXEL) are enabled (“ACTUATOR_ENABLE”) or disabled (“ACTUATOR_DISABLE”). “open_manipulator_moving_state” indicates whether OpenMANIPULATOR-P is moving along the trajectory (“IS_MOVING”) or stopped (“STOPPED”).

/open_manipulator/*joint_name*_position/command(std_msgs/Float64) are the messages to publish goal position of each joint to gazebo simulation node. *joint_name* shows the name of each joint. The messages will only be published if you run the controller package with the use_platform parameter set to false.

/rviz/moveit/update_start_state(std_msgs/Empty) is a message to update start state of moveit! trajectory. This message will only be published if you run the controller package with the use_moveit parameter set to true.

• 注：这些topic用于检查机械臂的状态，与其运动无关

• 订阅的话题列表

/open_manipulator/option
/open_manipulator/move_group/display_planned_path
/open_manipulator/move_group/goal
/open_manipulator/execute_trajectory/goal

• 话题说明

/open_manipulator/option(std_msgs/String) is used to set OpenMANIPULATOR-P options. “print_open_manipulator_setting” : is to request the open_manipulator_p_controller to display “Manipulator Description”.

/open_manipulator/option(moveit_msgs/DisplayTrajectory) is used to subscribe a planned joint trajectory published from moveit!

/move_group/goal(moveit_msgs/MoveGroupActionGoal) is used to subscribe a planning option data published from moveit!

/move_group/execute_trajectory/goal(moveit_msgs/ExecuteTrajectoryActionGoal) is used to subscribe states of trajectory execution published from moveit!

服务

• 服务列表

/open_manipulator/goal_joint_space_path (open_manipulator_msgs/SetJointPosition)
The user can use this service to create a trajectory in the joint space. The user inputs the angle of the target joint and the total time of the trajectory.

/open_manipulator/goal_joint_space_path_to_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the joint space. The user inputs the kinematics pose of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_joint_space_path_to_kinematics_position (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the joint space. The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_joint_space_path_to_kinematics_orientation (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the joint space. The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_task_space_path (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_task_space_path_position_only (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_task_space_path_orientation_only (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory in the task space. The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_joint_space_path_from_present (open_manipulator_msgs/SetJointPosition)
The user can use this service to create a trajectory from present joint angle in the joint space. The user inputs the angle of the target joint to be changed and the total time of the trajectory.

/open_manipulator/goal_task_space_path_from_present (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose to be changed of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_task_space_path_from_present_position_only (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_task_space_path_from_present_orientation_only (open_manipulator_msgs/SetKinematicsPose)
The user can use this service to create a trajectory from present kinematics pose in the task space. The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.

/open_manipulator/goal_tool_control (open_manipulator_msgs/SetJointPosition)
The user can use this service to move the tool of OpenMANIPULATOR_PRO.

/open_manipulator/set_actuator_state (open_manipulator_msgs/SetActuatorState)
The user can use this service to control the state of actucators.
If the user set true at set_actuator_state valuable, the actuator will be enabled.
If the user set false at set_actuator_state valuable, the actuator will be disabled.

/open_manipulator/goal_drawing_trajectory (open_manipulator_msgs/SetDrawingTrajectory)
The user can use this service to create a drawing trajectory. The user can create the circle, the rhombus, the heart, and the straight line trajectory.

/moveit/get_joint_position (open_manipulator_msgs/GetJointPosition)
This service is used when using moveit! The user can use this service to receives a joint position which is calculated by move_group.

/moveit/get_kinematics_pose (open_manipulator_msgs/GetKinematicsPose)
This service is used when using moveit! The user can use this service to receives a kinematics pose which is calculated by move_group.

/moveit/set_joint_position (open_manipulator_msgs/SetJointPosition)
This service is used when using moveit! The user can use this service to create a trajectory in the joint space by move_group. The user inputs the angle of the target joint and the total time of the trajectory.

/moveit/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
This service is used when using moveit! The user can use this service to create a trajectory in the task space by move_group. The user inputs the kinematics pose of the OpenMANIPULATOR-P end-effector(tool) in the task space and the total time of the trajectory.