MROD UR IP controllers

Controllers for Robotic Manipulation of Deformable Objects (MROD) to be used with Institut Pascal's UR robots.

Controllers use the VelocityJointInterface of UR robots that is part of Universal_Robots_ROS_Driver: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver

Controllers use the tools of ROS Control: http://wiki.ros.org/ros_control

Controllers use the tools of KDL: http://wiki.ros.org/kdl

Velocity-based Shape Controller

(vel_based_shape_controller)

Description

The controller implements shape control of linear elastic objects. The input is a desired array of node coordinates to be published on topic "desired_shape". It uses KDL solvers (notably inverse kinematics solver) in order to turn the desired twist into a target joint velocity sent to the interface.

Topics

desired_shape

The controller subscribes to this topic to get the goal node coordinates to be reached.

Name: "/vel_based_shape_controller/desired_shape"

Type: std_msgs/Float64MultiArray.

vision_shape

The controller subscribes to this topic to get the real node coordinates measured by vision.

Name: "/vel_based_shape_controller/vision_shape"

Type: std_msgs/Float64MultiArray.

x_master

The controller publishes on this topic to get the current pose of the end-effector

Type: geometry_msgs::Pose (with realtime_tools)

x_dot_master

The controller publishes on this topic to get the current twist of the end-effector

Type: geometry_msgs::Twist (with realtime_tools)

Velocity-based Cartesian Velocity Controller

(vel_based_cartesian_velocity_controller)

Description

The controller implements a cartesian velocity control. The input is a desired twist value to be published on topic "cmd_vel".

It uses KDL solvers (notably inverse kinematics solver) in order to turn this desired twist into a target joint velocity sent to the interface.

Topics

cmd_vel

The controller subscribes to this topic to get the desired value of cartesian velocity specified by the user

Type: geometry_msgs::Twist