Under Construction

This package has not been released yet, but will be soon.

Package Summary

This package contains a command-line tool used for easy user control of the joints of AMIGO.

Functional Description

This tool translates terminal input with desired joint positions into JointState messages. These are subsequently published for the controllers on the reference topic corresponding to the value of CONTROLLER. Additional documentation of the C++ files can be found as doxygen at INSERT LINK HERE

Use

To set a reference a controller, type:

$rosrun amigo_commandline set_reference <part name> {<joint1position>, <joint2position>, ... }

For example, to set a reference for the base type:

$rosrun amigo_commandline set_reference base <x velocity> <y velocity> <angular velocity>

and for the left arm:

$rosrun amigo_commandline set_reference left_arm 0 1 0 1.2 0.4 0 -0.5

The controllers for left_arm and right_arm expect seven joints, left_gripper and right_gripper expect two joints, the spindle expects one joint and head expects two joints.

The limits and initial position of each joint are given in the following tables:

Arms	Initial position	Lower limit	Upper limit
shoulder_yaw_joint	0	-1.57	0
shoulder_pitch_joint	-0.4	-1.57	1.57
shoulder_roll_joint	0	-1.57	1.57
elbow_pitch_joint	1.2	0	2.23
elbow_roll_joint	0	-1.83	1.83
wrist_pitch_joint	0.8	-0.95	0.95
wrist_yaw_joint	0	-0.61	0.61

Head	Initial position	Lower limit	Upper limit
neck_pan_joint	0	-1.58	1.58
neck_tilt_joint	0	-1.58	1.58

Grippers	Initial position	Lower limit	Upper limit
finger1_joint	0	-0.3	0.25
finger2_joint	0	-0.25	0.3

Spindle	Initial position	Lower limit	Upper limit
spindle_joint	0.35	0	0.5

Be mindfull that the left and right versions of joints might behave differently (opposite) if set to the same position. Additional information on all of these joints can be found in the yaml files in amigo_controller_configuration_gazebo