move_arm_node

move_arm_node

Overview

move_arm_node implements the Arm Planner as a ROS Node.

Static Parameters

• Required by robot_model_loader::RobotModelLoader
  • robot_description (string)
  • robot_description_semantic (string)
• allowed_planning_time (double)
• pose_goal_planner_id (string)
• joint_goal_planner_id (string)
• group_name (string)
• pos_tolerance (double, default: 0.05)
• rot_tolerance (double, default: 5.0) - degrees
• joint_tolerance (double, default: 5.0) - degrees
• workspace_frame (string)
• tip_link (string)
• workspace_min (geometry_msgs/Vector3)
• workspace_max (geometry_msgs/Vector3)

Subscribed Topics

• octomap (octomap_msgs/Octomap)

Required Transforms

• "map" -> root frame

Required Actions

• "move_group" (moveit_msgs/MoveGroupAction)

Provided Actions

• move_arm (rcta/MoveArmAction)