[ros-users] Interfacing a new arm driver to a motion planner

[Konrad Banachowicz]

Hi Martin,

I am doing quiet the same for irb6 manipulator. I have done all servo,
trajectory, URDF stuff already.
Now i am working on running manipulation pipeline on it. For now it's looks
like it would be hard work.
The manipulation pipeline (as far as i know) is used only on PR2 and It's
quiet hard to get any answers about it on the list.
I recently get some stuff working (envirement_server, move_arm,
trajectory_filter) (partially by some ugly hacks) but there is still a lot
of work before I can say it works for me.

Pozdrawiam
Konrad Banachowicz


2010/12/5 Martin Günther <martin.guenther1980 at googlemail.com>

> On Sun, 5 Dec 2010 17:39:30 +0100
> Martin Günther <mguenthe at uos.de> wrote:
>
> > Dear list,
> >
> > I am currently writing a ROS node for the Neuronics Katana 450 arm and
> > would be happy about a few quick pointers about how to continue. I am
> > aware of the ROS packages katana450, katana_ik_bridge and
> > stair_katana; however, I would like to reuse as much ROS stuff for
> > IK, arm navigation and motion planning as possible, so I decided to
> > rewrite the code from scratch.
> >
> > So far,
> > - I have created a URDF description of the arm;
> > - I can read out the current joint angles and publish them as
> > JointState messages;
> > - I can move the arm to a desired joint angle configuration;
> > - I can move the arm to a target pose in space, using the inverse
> >   kinematics library supplied with the arm (although I'm also eager to
> >   give the ROS IK a try).
> >
> > I have the feeling that I am almost done (right? come on, please!),
> > but I'm a little overwhelmed by the wealth of arm navigation stuff in
> > ROS. What are the messages/services/actions that I should provide to
> > be able to interface my arm to a motion planner, and to use the ROS
> > IK, and so on?
> >
> > Best,
> > Martin
>
> Forgot to mention: The robot arm has realtime controllers for all the
> motors; I can send a spline (or a sequence of splines) there, and it
> will be executed.
>
> Best,
> Martin
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