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moving sr_hand ros fuerte

asked 2013-04-03 07:31:01 -0500

phmferreira gravatar image

updated 2014-04-20 14:09:26 -0500

ngrennan gravatar image

I tried to move the shadow hand with this command

Blockquote rostopic pub /srh/sendupdate sr_robot_msgs/sendupdate {sendupdate_length: 1 ,sendupdate_list: [{joint_name: FFJ0,joint_target: 180}]}"

but it doesn't work.


I saw with the command rostopic list -v that there aren't any /srh/sendupdate

Blockquote Published topics: * /lfmiddle_bumper [gazebo_msgs/ContactsState] 1 publisher * /lfmetacarpal_bumper [gazebo_msgs/ContactsState] 1 publisher * /camera/depth_registered/points [sensor_msgs/PointCloud2] 1 publisher * /sh_ffj4_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /rfmiddle_bumper [gazebo_msgs/ContactsState] 1 publisher * /rfproximal_bumper [gazebo_msgs/ContactsState] 1 publisher * /camera/image_raw/compressed [sensor_msgs/CompressedImage] 1 publisher * /tf [tf/tfMessage] 1 publisher * /lfknuckle_bumper [gazebo_msgs/ContactsState] 1 publisher * /sh_rfj3_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /camera/image_raw/theora [theora_image_transport/Packet] 1 publisher * /camera/image_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /sh_thj5_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /mfmiddle_bumper [gazebo_msgs/ContactsState] 1 publisher * /sh_lfj5_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /mfdistal_bumper [gazebo_msgs/ContactsState] 1 publisher * /sh_wrj1_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /r_arm_joint_trajectory_controller/state [pr2_controllers_msgs/JointTrajectoryControllerState] 1 publisher * /sa_ss_position_controller/state [pr2_controllers_msgs/JointControllerState] 1 publisher * /ffmiddle_bumper [gazebo_msgs/ContactsState] 1 publisher * /ffproximal_bumper [gazebo_msgs/ContactsState] 1 publisher * /camera/image_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher * /sa_sr_position_controller/state [pr2_controllers_msgs/JointControllerState] 1 publisher * /sa_er_position_controller/state [pr2_controllers_msgs/JointControllerState] 1 publisher * /lfproximal_bumper [gazebo_msgs/ContactsState] 1 publisher * /thmiddle_bumper [gazebo_msgs/ContactsState] 1 publisher * /thproximal_bumper [gazebo_msgs/ContactsState] 1 publisher * /gazebo/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /mfproximal_bumper [gazebo_msgs/ContactsState] 1 publisher * /ffknuckle_bumper [gazebo_msgs/ContactsState] 1 publisher * /camera/image_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /depth/image_raw [sensor_msgs/Image] 1 publisher * /lfdistal_bumper [gazebo_msgs/ContactsState] 1 publisher * /rfknuckle_bumper [gazebo_msgs/ContactsState] 1 publisher * /palm_bumper [gazebo_msgs/ContactsState] 1 publisher * /thbase_bumper [gazebo_msgs/ContactsState] 1 publisher * /sh_ffj0_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_thj2_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /depth/camera_info [sensor_msgs/CameraInfo] 1 publisher * /sh_mfj0_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /camera/camera_info [sensor_msgs/CameraInfo] 1 publisher * /sa_es_position_controller/state [pr2_controllers_msgs/JointControllerState] 1 publisher * /rfdistal_bumper [gazebo_msgs/ContactsState] 1 publisher * /rosout [rosgraph_msgs/Log] 6 publishers * /sh_lfj3_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /mechanism_statistics [pr2_mechanism_msgs/MechanismStatistics] 1 publisher * /mfknuckle_bumper [gazebo_msgs/ContactsState] 1 publisher * /rosout_agg [rosgraph_msgs/Log] 1 publisher * /camera/image_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /sh_rfj4_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /camera/image_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher * /r_arm_cartesian_pose_controller/state/error [geometry_msgs/Twist] 1 publisher * /r_arm_cartesian_pose_controller/state/pose [geometry_msgs/PoseStamped] 1 publisher * /camera/image_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher * /sh_rfj0_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /camera/image_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher * /gazebo/joint_states [sensor_msgs/JointState] 1 publisher * /thdistal_bumper [gazebo_msgs/ContactsState] 1 publisher * /sh_lfj4_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_ffj3_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_thj1_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /ffdistal_bumper [gazebo_msgs/ContactsState] 1 publisher * /thhub_bumper [gazebo_msgs/ContactsState] 1 publisher * /gazebo/link_states [gazebo_msgs/LinkStates] 1 publisher * /sh_mfj3_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_thj4_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_lfj0_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /gazebo/model_states [gazebo_msgs/ModelStates] 1 publisher * /clock [rosgraph_msgs/Clock] 1 publisher * /camera/image_raw [sensor_msgs/Image] 1 publisher * /sh_thj3_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_mfj4_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /sh_wrj2_mixed_position_velocity_controller/state [sr_robot_msgs/JointControllerState] 1 publisher * /gazebo/parameter_updates [dynamic_reconfigure/Config] 1 publisher Subscribed topics: * /sh_mfj0_mixed_position_velocity_controller/command [std_msgs/Float64] 1 subscriber * /sh_lfj0_mixed_position_velocity_controller/command [std_msgs/Float64] 1 subscriber * /gazebo/set_link_state [gazebo_msgs/LinkState] 1 ...

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answered 2013-04-03 17:33:04 -0500

Ugo gravatar image

Hi,

Sorry about that, we're in the process of updating our documentation/tutorials but they are still out of date, using the old non-standard interface. We tried to now make our code closer to the one of the pr2. This means that the controllers can be accessed on the following topics:

/sh_ffj0_mixed_position_velocity_controller/command
/sh_ffj3_mixed_position_velocity_controller/command
/sh_ffj4_mixed_position_velocity_controller/command
etc...

The /joint_states topic is not a command topic, it gives you the position/velocity/effort for each joint.

Hope this helps.

Cheers,

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Asked: 2013-04-03 07:31:01 -0500

Seen: 117 times

Last updated: Apr 03 '13