{"id":1968,"date":"2020-01-11T18:31:24","date_gmt":"2020-01-11T09:31:24","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1968"},"modified":"2020-01-13T12:11:34","modified_gmt":"2020-01-13T03:11:34","slug":"coboota-%e3%81%ab%e9%96%a2%e3%81%99%e3%82%8b%e5%8b%89%e5%bc%b7%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1968","title":{"rendered":"Coboota \u306b\u95a2\u3059\u308b\u52c9\u5f37\u306e\u30e1\u30e2"},"content":{"rendered":"<p>Cobotta \u3092\u901a\u3057\u3066\uff0cROS\u3092\u52c9\u5f37\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<p><a href=\"https:\/\/densorobot.github.io\/docs\/denso_cobotta_ros\/command_reference\/index.html\">Docs \u00bb Command Reference<\/a>\u306b\uff0crosservice\u3068rosopics \u304c\u8f09\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>Cobotta \u3092\u4f7f\u3046\u3053\u3068\u3092\u8003\u3048\u308b\u3068\uff0c<\/p>\n<ul>\n<li>\u30e2\u30fc\u30bf\u30fc\u306e\u89d2\u5ea6\u3092\u6307\u5b9a\u3057\u3066\u52d5\u304b\u3059<\/li>\n<li>\u73fe\u5728\u306e\u30e2\u30fc\u30bf\u30fc\u306e\u89d2\u5ea6\u3092\u8aad\u307f\u53d6\u308b<\/li>\n<\/ul>\n<p>\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<p>\u3053\u308c\u306b\u5bfe\u5fdc\u3059\u308b\u306e\u306f\uff0c\/cobotta\/joint_states \u3067\uff0c\u3053\u306e\u30c8\u30d4\u30c3\u30af\u540d\u3067\u5404\u89d2\u5ea6\u306e\u30ea\u30b9\u30c8\u304c\u624b\u306b\u5165\u308a\u307e\u3059\uff0e<br \/>\n\u500b\u3005\u306e\u9805\u76ee\u306f\uff0cjoint_1\uff0cjoint_2\uff0c\u2026\uff0cjoint_6 \u3068\u3044\u3046\u540d\u524d\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>rostopic \u306b\u95a2\u3057\u3066\u306f\uff0c<a href=\"https:\/\/kazuyamashi.github.io\/ros_lecture\/ros_measure.html\">ROS\u306b\u304a\u3051\u308b\u30ce\u30fc\u30c9\u9593\u901a\u4fe1\u306e\u5206\u6790\u306b\u4f7f\u3046\u30b3\u30de\u30f3\u30c9\u7d39\u4ecb\u3068\u305d\u306e\u5b9f\u7528\u4f8b<\/a>\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u611f\u3058\u3067\u3059\uff0e<br \/>\n\/cobotta\/joint_states \u306b\u5bfe\u3057\u3066 info \u3067\u60c5\u5831\u3092\u898b\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ncobotta@cobotta-desktop:~$ rostopic info cobotta\/joint_states\r\nType: sensor_msgs\/JointState\r\n\r\nPublishers:\r\n * \/cobotta\/denso_cobotta_gripper (http:\/\/cobotta-desktop:46295\/)\r\n * \/cobotta\/denso_cobotta_control (http:\/\/cobotta-desktop:44575\/)\r\n\r\nSubscribers:\r\n * \/robot_state_publisher (http:\/\/cobotta-desktop:40327\/)\r\n * \/move_group (http:\/\/cobotta-desktop:32773\/)\r\n * \/joint_state_publisher (http:\/\/cobotta-desktop:33065\/)\r\n<\/pre>\n<p>\u3064\u3044\u3067\u306b\uff0crosmsg \u3067\uff0cshow \u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ncobotta@cobotta-desktop:~$ rosmsg show sensor_msgs\/JointState\r\nstd_msgs\/Header header\r\n  uint32 seq\r\n  time stamp\r\n  string frame_id\r\nstring&#x5B;] name\r\nfloat64&#x5B;] position\r\nfloat64&#x5B;] velocity\r\nfloat64&#x5B;] effort\r\n<\/pre>\n<p>\u5024\u306e\u5236\u9650\u306f\uff0c\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ncobotta@cobotta-desktop:~$ cat ~\/catkin_ws\/src\/denso_cobotta_ros\/denso_cobotta_moveit_config\/config\/joint_limits.yaml\r\n# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed\r\n# Specific joint properties can be changed with the keys &#x5B;max_position, min_position, max_velocity, max_acceleration]\r\n# Joint limits can be turned off with &#x5B;has_velocity_limits, has_acceleration_limits]\r\n\r\n# FYI: It might be incorrect.\r\njoint_limits:\r\n  joint_1:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.4031710572\r\n    has_acceleration_limits: true\r\n    max_acceleration: 1.46607\r\n  joint_2:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.3921754829\r\n    has_acceleration_limits: true\r\n    max_acceleration: 1.46607\r\n  joint_3:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.725707903\r\n    has_acceleration_limits: true\r\n    max_acceleration: 2.44346\r\n  joint_4:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.7391469382\r\n    has_acceleration_limits: true\r\n    max_acceleration: 3.29867\r\n  joint_5:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.7391469382\r\n    has_acceleration_limits: true\r\n    max_acceleration: 3.29867\r\n  joint_6:\r\n    has_velocity_limits: true\r\n    max_velocity: 1.1093312726\r\n    has_acceleration_limits: true\r\n    max_acceleration: 4.88692\r\n  joint_gripper:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.04\r\n    has_acceleration_limits: false\r\n    max_acceleration: 0\r\n  joint_gripper_mimic:\r\n    has_velocity_limits: true\r\n    max_velocity: 0.04\r\n    has_acceleration_limits: false\r\n    max_acceleration: 0\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Cobotta \u3092\u901a\u3057\u3066\uff0cROS\u3092\u52c9\u5f37\u3057\u3066\u307f\u307e\u3059\uff0e Docs \u00bb Command &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1968\"> <span class=\"screen-reader-text\">Coboota \u306b\u95a2\u3059\u308b\u52c9\u5f37\u306e\u30e1\u30e2<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[20,6],"tags":[],"class_list":["post-1968","post","type-post","status-publish","format-standard","hentry","category-cobotta","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1968","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1968"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1968\/revisions"}],"predecessor-version":[{"id":1976,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1968\/revisions\/1976"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1968"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1968"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1968"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}