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  1. Manipulator


The manipulator handler looks for a manipulator tag and it finds all its joints. After it creates a ROS publisher of sensor_msgs/JointState messages:

In addition it gives us the possibility to control the joints using commands from ROS in several ways (see here for more details):

You can use the function "simExtSetFloatCustomDataFromHeader()" to set the control mode you prefer.

In the folder vrep_ros_brigde/SceneVrep you will find the model of a manipulator with the joints controlled in velocity: ManipulatorViper.ttt.

2024-06-15 12:57