Coboota に関する勉強のメモ

Cobotta を通して，ROSを勉強してみます．

Docs » Command Referenceに，rosserviceとrosopics が載っています．

Cobotta を使うことを考えると，

• モーターの角度を指定して動かす
• 現在のモーターの角度を読み取る

が必要になります．

これに対応するのは，/cobotta/joint_states で，このトピック名で各角度のリストが手に入ります．
個々の項目は，joint_1，joint_2，…，joint_6 という名前になっています．

rostopic に関しては，ROSにおけるノード間通信の分析に使うコマンド紹介とその実用例がわかりやすい感じです．
/cobotta/joint_states に対して info で情報を見てみます．

cobotta@cobotta-desktop:~$ rostopic info cobotta/joint_states
Type: sensor_msgs/JointState

Publishers:
 * /cobotta/denso_cobotta_gripper (http://cobotta-desktop:46295/)
 * /cobotta/denso_cobotta_control (http://cobotta-desktop:44575/)

Subscribers:
 * /robot_state_publisher (http://cobotta-desktop:40327/)
 * /move_group (http://cobotta-desktop:32773/)
 * /joint_state_publisher (http://cobotta-desktop:33065/)

ついでに，rosmsg で，show してみます．

cobotta@cobotta-desktop:~$ rosmsg show sensor_msgs/JointState
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string[] name
float64[] position
float64[] velocity
float64[] effort

値の制限は，以下の通りです．

cobotta@cobotta-desktop:~$ cat ~/catkin_ws/src/denso_cobotta_ros/denso_cobotta_moveit_config/config/joint_limits.yaml
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

# FYI: It might be incorrect.
joint_limits:
  joint_1:
    has_velocity_limits: true
    max_velocity: 0.4031710572
    has_acceleration_limits: true
    max_acceleration: 1.46607
  joint_2:
    has_velocity_limits: true
    max_velocity: 0.3921754829
    has_acceleration_limits: true
    max_acceleration: 1.46607
  joint_3:
    has_velocity_limits: true
    max_velocity: 0.725707903
    has_acceleration_limits: true
    max_acceleration: 2.44346
  joint_4:
    has_velocity_limits: true
    max_velocity: 0.7391469382
    has_acceleration_limits: true
    max_acceleration: 3.29867
  joint_5:
    has_velocity_limits: true
    max_velocity: 0.7391469382
    has_acceleration_limits: true
    max_acceleration: 3.29867
  joint_6:
    has_velocity_limits: true
    max_velocity: 1.1093312726
    has_acceleration_limits: true
    max_acceleration: 4.88692
  joint_gripper:
    has_velocity_limits: true
    max_velocity: 0.04
    has_acceleration_limits: false
    max_acceleration: 0
  joint_gripper_mimic:
    has_velocity_limits: true
    max_velocity: 0.04
    has_acceleration_limits: false
    max_acceleration: 0