omni_ros

ROS Integration for our Youbot + arm robots.

Packages

omni_bringup

Launch and configuration files to start the robot in its different versions. Currently, the three main ones are

• omnigrasper.launch
  • arguments
    • use_base (bool): enable the Youbot
    • use_arm (bool): enable the arm
    • use_mocap (bool): launch the node for motion capture integration
    • arm_control_mode (string) either velocity, position or safevel
  • what it does
    • load URDF description the TF tree
    • start a control node for the arm (dynamixel hardware interface)
    • start a control node for the YouBot mobile base (youbot driver)
• omni_mocap.launch
  • starts the ROS node to receive motion capture data on Omnigrasper
• velocity_teleop.launch
  • use a joypad to command the arm, assuming it is in safevel mode

omni_controllers

Controllers specifically built for this robot, for instance the omni_controllers/OmnigrasperSpeedSafeController that commande the arm in velocity, ensuring that it never hits the floor or the mobile base.

omni_description

Has the URDFs of the robot in its different configurations.

omni_driver

Some C++ glu code to command the arm.

Documentation/Dependencies

launch/node	required ros packages	other requirements
omni_mocap	mocap_optitrack

Work stalled

Authors

• Maintainer: Dorian Goepp
• Authors: Federico Allocati, Dorian Goepp

License

CeCILL