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Robot Operating System Cookbook
book

Robot Operating System Cookbook

by Kumar Bipin
June 2018
Intermediate to advanced content levelIntermediate to advanced
484 pages
11h 36m
English
Packt Publishing
Content preview from Robot Operating System Cookbook

Moving the real robot

First of all, we'll need to create a file to define how we will control the joints of our real robot. Inside the config folder of our MoveIt package, create a new file named controllers.yaml. Copy the following content inside of it:

controller_list: 
  - name: arm_controller 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - shoulder_pan_joint 
      - shoulder_lift_joint 
      - elbow_joint 
      - wrist_1_joint 
      - wrist_2_joint 
      - wrist_3_joint 
  - name: hand_controller 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - H1_F1J1 
      - H1_F1J2 
      - H1_F1J3 
      - H1_F2J1 
      - H1_F2J2 
      - H1_F2J3 
      - H1_F3J1 
      - H1_F3J2 
      - H1_F3J3 

So basically, here, we are defining the action servers that we will use for controlling the ...

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Publisher Resources

ISBN: 9781783987443Supplemental Content