Gazebo pose controller for teleoperation [closed]

asked 2012-03-05 02:08:09 -0600

Robert Krug gravatar image

updated 2012-03-05 06:25:27 -0600


I want to teleoperate a free floating Gazebo model of the Shadow hand (i.e. without arm kinematics) by means of a 6D pose sensor attached to the wrist of the operator. I tried to use the /gazebo/set_model_state service to directly set the model pose to the transformed pose of the sensor, but this results in the model "jumping around" if the physics are enabled.

Then I added a fixed dummy base link connected to the model via a floating joint and tried a robot_mechanism_controllers/CartesianPoseController to track the pose of the model. However, the floating joint is not recognized by the controller and gets converted to a fixed joint on loadup. So, the question is if there is some workaround allowing the controller to track the "free floating" pose without a defined kinematic chain.

Also, I noticed that apart from the robot_mechanism_controllers/CartesianPoseController, there are robot_mechanism_controllers/JTCartesianController and teleop_controllers/JTTeleopController, both of which seem to be similar controller types but the documentation is a bit sparse. Maybe someone with more experience could give some hints about the conceptual differences/intended applications of those controllers?

Thanks, -Robert-

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-10-30 18:15:34.120624


Hi Robert. None of these controllers will work with floating joints. I'm not sure how to do what you'd like to do, but hopefully someone else will.

sglaser gravatar image sglaser  ( 2012-03-06 09:12:56 -0600 )edit

I think one option could be to add a 6DOF dummy chain to the hand urdf. For now, I will simply use the CartesianPoseController with Shadow's models for the hand + 4DOF arm.

Robert Krug gravatar image Robert Krug  ( 2012-03-06 11:38:43 -0600 )edit

On a sidenote, as mentioned here , it looks like the JJTeleopController was moved to the JTCartesianController in Electric, but it seems to work only for a 7DOF chain (for the PR2 I presume).

Robert Krug gravatar image Robert Krug  ( 2012-03-06 11:40:30 -0600 )edit

Was this question every resolved?

SL Remy gravatar image SL Remy  ( 2014-09-16 07:15:28 -0600 )edit