ROS for CRS A460 robot

asked 2017-11-10 13:43:52 -0500

ubinpwnt gravatar image

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

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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.

gvdhoorn gravatar image gvdhoorn  ( 2017-11-10 14:02:36 -0500 )edit

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

ubinpwnt gravatar image ubinpwnt  ( 2017-11-10 16:24:40 -0500 )edit

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).

gvdhoorn gravatar image gvdhoorn  ( 2017-11-11 02:05:26 -0500 )edit
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