QRB ROS Motion Manager Service

Overview

The qrb_ros_motion_manager_service is a ROS-based service designed for managing motion in robotic systems. It interfaces with the motion control components, handling commands and responses efficiently. The service is part of a broader ecosystem developed for robotics motion management, and it leverages ROS messages and actions for seamless integration and communication.

How to Build

1. Clone the Repository:

   git clone https://github.com/quic-qrb-ros/qrb_ros_motion_manager_service.git

2. Navigate to the workspace:

   cd /path/to/your/catkin_ws

3. Add the package: Place the cloned qrb_ros_motion_manager_service in the src directory of your workspace.
4. Install Dependencies:

   rosdep install --from-paths src --ignore-src -r -y

5. Build the Workspace:

   catkin_make

6. Source the Setup File:

   source devel/setup.bash

How to Run

1. Launch the ROS Core:

   roscore

2. Run the Motion Manager Service:

   rosrun qrb_ros_motion_manager_service motion_manager_service_node

3. Use ROS tools (like rosservice, rostopic, etc.) to interact with the service.

Package Content

• include/qrb_ros_motion_service: Header files defining service and utility interfaces.
• src/: Contains the implementation of the motion manager service.
• CMakeLists.txt: Build configuration for the package.
• package.xml: Package metadata and dependencies.

API (ROS Messages)

The qrb_ros_motion_manager_service uses ROS messages defined in the qrb_ros_motion_msgs package. For detailed message formats, visit QRB ROS Motion Messages.

Commonly Used Messages:

• MotionCommand: Used to send commands to the motion manager.
• MotionStatus: Used to receive status updates from the motion system.
• MotionError: Used to report any errors encountered.

For additional details on message definitions and examples, refer to the qrb_ros_motion_msgs documentation.