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How to use Twist messages in robo-arm?

asked 2015-06-25 03:47:50 -0500

tambel gravatar image

Hello. We have arm with servo joints,we are writing controller for it, and i don't know how correctly apply Twist messages,to control it.

Some questions:

1)If task is only to rotate angles of servos , i need only "angular" field of Twist?

2) If arm has 4 servos, i have to send 4 Twist for each of them? How should i do this? Arrays, separated topics or otherwise?

3) Twist not used for this tasks and this questions don't make sense.

I will be appreciate any advice. Thank you very much.

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answered 2015-06-25 03:55:18 -0500

gvdhoorn gravatar image

updated 2015-06-25 03:56:48 -0500

I'm not sure, but I don't think its usually the case that manipulators expose a geometry_msgs/Twist interface. So i'd go for your option 3.

Most of the planners ROS uses out-of-the-box generate plans in joint space, so a trajectory_msgs/JointTrajectory interface would seem like a logical thing to have. You can probably look at some other implementations for inspiration.

Edit: if you're starting from scratch: be sure to take a look at ros_control, and for arms/manipulators, the joint_trajectory_controller. Could save you a lot of work.

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Thank you, it really helps!

tambel gravatar image tambel  ( 2015-06-25 04:19:03 -0500 )edit

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Asked: 2015-06-25 03:47:50 -0500

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Last updated: Jun 25 '15