ROS for CRS A460 robot

Hi, I'm new here and would like to use ROS as a wrapper for RAPL2 (proprietary CRS language) to control the CRS A460 robot. Can this be done? If so, where should I look to get help making the wrapper? Thanks

Asked by ubinpwnt on 2017-11-10 14:43:52 UTC

Comments

I don't know of any ready-to-reuse components, but #q205136 was a question about a similar robot. Don't know whether that ever resulted in anything usable though.

Asked by gvdhoorn on 2017-11-10 15:02:36 UTC

Are there any instructions or tutorials for writing a wrapper? e.g.

rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]'

would translate to

move[,2]

in RAPL

Asked by ubinpwnt on 2017-11-10 17:24:40 UTC

No, I don't believe there are tutorials for that specifically.

Writing a robot driver for a robot arm (not a mobile base) typically involves broadcasting JointState msgs and consuming FollowJointTrajectory action goals. Not Twists (but it could be done).

Asked by gvdhoorn on 2017-11-11 03:05:26 UTC