Hello ROS users,
I am trying out the UA Smart Arm Controller package with my robot which
has a pair of AX-12+ arms, pan and tilt head servos, and a torso joint,
all controlled on a single Dynamixel bus via a USB2Dynamixel controller.
I'm not sure the smart arm controller was meant to be used this way
(as a general joint controller for the whole robot) but so far it seems
to be working, meaning, I can move each joint by publishing to the
appropriate topic and I can read the states of each servo on the
appropriate topics.
The one discrepancy I have run into between the documentation and what I
am seeing on my machine is trying to get the joint state for all joints
as referred to in the tutorial at:
http://www.ros.org/wiki/smart_arm_controller/Tutorials/Getting%20Started%20with%20a%20Smart%20Arm
Near the bottom of the tutorial it is claimed that I can get the
joint_states with the following command:
rostopic echo /smart_arm_controller/state
but this topic does not exist. I can get a list of motor states with
the command:
rostopic echo /motor_states/ttyUSB0
but this topic does not include the joint names which I will need if I
want to see the state changes in RViz via the robot_state_publisher and
my URDF model.
So my question is: how can I get a list of joint states including joint
names?
Here is my full setup in case it helps:
Ubuntu 10.04 + latest ROS C Turtle Debian packages
UA Smart Arm Controller package revision 1032
Launch files:
<launch>
<!-- Start the low-level serial driver and controller manager -->
<include file="$(find
ax12_controller_core)/launch/controller_manager.launch" />
<!-- Start the pi_robot_arm controller -->
<include file="$(find
smart_arm_controller)/launch/pi_robot_arm.launch" />
</launch>
<launch>
<!-- Load joint controller configuration from YAML file to
parameter server -->
<rosparam file="$(find
smart_arm_controller)/config/pi_robot_arm.yaml" command="load"/>
<!-- Start all SmartArm joint controllers -->
<node name="smart_arm_controller_spawner"
pkg="ax12_controller_core" type="controller_spawner.py"
args="--port /dev/ttyUSB0
head_pan_controller
head_tilt_controller
right_shoulder_pan_controller
right_shoulder_lift_controller
right_arm_roll_controller
right_elbow_controller
right_wrist_controller
left_shoulder_pan_controller
left_shoulder_lift_controller
left_arm_roll_controller
left_elbow_controller
left_wrist_controller
torso_controller"
output="screen"/>
</launch>
<launch>
<!-- Start the low-level driver manager with parameters -->
<node name="ax12_manager" pkg="ax12_controller_core"
type="controller_manager.py" required="true" outpu
t="screen">
<param name="port_name" type="str" value="/dev/ttyUSB0"/>
<param name="baud_rate" type="int" value="1000000"/>
<param name="min_motor_id" type="int" value="1"/>
<param name="max_motor_id" type="int" value="14"/>
<param name="update_rate" type="int" value="10"/>
</node>
</launch>
And the YAML file for my servos:
head_pan_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: head_pan_joint
joint_speed: 1.17
motor:
id: 1
init: 512
min: 0
max: 1024
head_tilt_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: head_tilt_joint
joint_speed: 1.17
motor:
id: 2
init: 512
min: 300
max: 800
right_shoulder_pan_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: right_shoulder_pan_joint
joint_speed: 1.17
motor:
id: 3
init: 512
min: 0
max: 1023
right_shoulder_lift_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: right_shoulder_lift_joint
joint_speed: 1.17
motor:
id: 4
init: 512
min: 0
max: 1023
right_arm_roll_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: right_arm_roll_joint
joint_speed: 1.17
motor:
id: 5
init: 512
min: 0
max: 1023
right_elbow_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: right_elbow_joint
joint_speed: 1.17
motor:
id: 13
init: 512
min: 0
max: 1023
right_wrist_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: right_wrist_joint
joint_speed: 1.17
motor:
id: 6
init: 512
min: 0
max: 1023
left_shoulder_pan_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: left_shoulder_pan_joint
joint_speed: 1.17
motor:
id: 7
init: 512
min: 0
max: 1023
left_shoulder_lift_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: left_shoulder_lift_joint
joint_speed: 1.17
motor:
id: 8
init: 512
min: 0
max: 1023
left_arm_roll_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: left_arm_roll_joint
joint_speed: 1.17
motor:
id: 9
init: 512
min: 0
max: 1023
left_elbow_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: left_elbow_joint
joint_speed: 1.17
motor:
id: 12
init: 512
min: 0
max: 1023
left_wrist_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: left_wrist_joint
joint_speed: 1.17
motor:
id: 10
init: 512
min: 0
max: 1023
torso_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: torso_joint
joint_speed: 1.17
motor:
id: 11
init: 512
min: 0
max: 1023
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