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Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Author: Ugo Cupcic / ugo@shadowrobot.com
- License: GPL
- Source: bzr lp:sr-ros-interface/stable (branch: release)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Author: Ugo Cupcic / ugo@shadowrobot.com
- License: GPL
- Source: bzr lp:sr-ros-interface/fuerte (branch: release)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Author: Ugo Cupcic / ugo@shadowrobot.com
- License: GPL
- Source: git https://github.com/shadow-robot/sr-ros-interface.git (branch: groovy-devel)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Maintainer status: maintained
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface.git (branch: hydro-devel)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Maintainer status: developed
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface.git (branch: indigo-devel)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Maintainer status: developed
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr_tools.git (branch: kinetic-devel)
Package Summary
Contains a node which can be used to take the hand through a series of movements (perfect for tuning controllers for example).
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr_tools.git (branch: melodic-devel)
Overview
This package reads a specified bitmap and send targets by replaying the drawn movement.
It also receives an input topic and calculates the MSE for each cycle of the bitmap plot. The MSE is output to ROS_INFO and published in the topic mse_out.
For example, using this png file will send targets between the specified min and max values on a (very) rough sinusoid. The black dot on each row represents the percentage between min and max. The top of the graph is 100% (=max), the bottom is 0% (=min).
ROS interface
How to run
The recommended way of using this package is:
rosrun sr_movements sr_movements /sr_movements/targets:=/sh_ffj3_mixed_position_velocity_controller/command /sr_movements/inputs:=/sh_ffj3_mixed_position_velocity_controller/state _image_path:="`rospack find sr_movements`/movements/test.png" _min:=.1 _max:=1.4 _publish_rate:=100 _repetition:=5 _nb_step:=1000 _msg_type:="sr"
Topics published and subscribed
Publishes /sr_movements/targets with the targets values.
Publishes /sr_movements/mse_out with the calculated MSE values.
Subscribe to /sr_movements/inputs to receive the data to calculate MSE.
Parameters
where we:
remap the targets to the /sh_ffj3_mixed_position_velocity_controller/command topic
remap the inputs to the /sh_ffj3_mixed_position_velocity_controller/state topic
load the movement from the image sr_movements/movements/test.png
set the min to 0.0 and the max to 1.57
- set the publish_rate to 100
set the number of repetition to 5
set the number of samples taken from the image (_nb_step) to 1000
set the type of data (_msg_type) received from inputs to "sr" to indicate that it's sr_robot_msgs. (the other possible value being "pr2" to indicate that it's pr2_controllers_msgs
Notes
If you have more than one point in the same row, the higher point will be taken into account.
If there's a gap in your drawn line, then we'll continue publishing the last value until we get to a new value.