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Included jollow joint trajectory link.

pull/14/head
Alan G. Sanchez 2 years ago
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1 changed files with 30 additions and 3 deletions
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      follow_joint_trajectory.md

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follow_joint_trajectory.md View File

@ -10,6 +10,7 @@ Stretch ROS driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api
Begin by running `roscore` in a terminal. Then set the ros parameter to *position* mode by running the following commands in a new terminal. Begin by running `roscore` in a terminal. Then set the ros parameter to *position* mode by running the following commands in a new terminal.
```bash ```bash
# Terminal 2
rosparam set /stretch_driver/mode "position" rosparam set /stretch_driver/mode "position"
roslaunch stretch_core stretch_driver.launch roslaunch stretch_core stretch_driver.launch
``` ```
@ -17,6 +18,7 @@ roslaunch stretch_core stretch_driver.launch
In a new terminal type the following commands. In a new terminal type the following commands.
```bash ```bash
# Terminal 3
cd catkin_ws/src/stretch_ros_tutorials/src/ cd catkin_ws/src/stretch_ros_tutorials/src/
python stow_command.py python stow_command.py
``` ```
@ -159,6 +161,7 @@ Initialize the `StowCommand()` class and set it to *node* and run the `main()` f
Begin by running `roscore` in a terminal. Then set the ros parameter to *position* mode by running the following commands in a new terminal. Begin by running `roscore` in a terminal. Then set the ros parameter to *position* mode by running the following commands in a new terminal.
```bash ```bash
# Terminal 2
rosparam set /stretch_driver/mode "position" rosparam set /stretch_driver/mode "position"
roslaunch stretch_core stretch_driver.launch roslaunch stretch_core stretch_driver.launch
``` ```
@ -166,6 +169,7 @@ roslaunch stretch_core stretch_driver.launch
In a new terminal type the following commands. In a new terminal type the following commands.
```bash ```bash
# Terminal 3
cd catkin_ws/src/stretch_ros_tutorials/src/ cd catkin_ws/src/stretch_ros_tutorials/src/
python multipoint_command.py python multipoint_command.py
``` ```
@ -191,7 +195,8 @@ class MultiPointCommand(hm.HelloNode):
def issue_multipoint_command(self): def issue_multipoint_command(self):
""" """
Function that makes an action call and sends multiple joint trajectory goals.
Function that makes an action call and sends multiple joint trajectory goals
to the joint_lift, wrist_extension, and joint_wrist_yaw.
:param self: The self reference. :param self: The self reference.
""" """
point0 = JointTrajectoryPoint() point0 = JointTrajectoryPoint()
@ -244,7 +249,7 @@ if __name__ == '__main__':
``` ```
### The Code Explained.
### The Code Explained
Seeing that there are similarities between the multipoint and stow command nodes, we will only breakdown the different components of the multipoint_command node. Seeing that there are similarities between the multipoint and stow command nodes, we will only breakdown the different components of the multipoint_command node.
```python ```python
@ -254,7 +259,6 @@ point0.positions = [0.2, 0.0, 3.4]
Set *point0* as a `JointTrajectoryPoint`and provide desired positions. These are the positions of the lift, wrist extension, and yaw of the wrist, respectively. The lift and wrist extension positions are expressed in meters, where as the wrist yaw is in radians. Set *point0* as a `JointTrajectoryPoint`and provide desired positions. These are the positions of the lift, wrist extension, and yaw of the wrist, respectively. The lift and wrist extension positions are expressed in meters, where as the wrist yaw is in radians.
```python ```python
point0.velocities = [0.2, 0.2, 2.5] point0.velocities = [0.2, 0.2, 2.5]
``` ```
@ -276,3 +280,26 @@ trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
trajectory_goal.trajectory.header.frame_id = 'base_link' trajectory_goal.trajectory.header.frame_id = 'base_link'
``` ```
Set *trajectory_goal* as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` is defined by a list of the 6 points. Specify the coordinate frame that we want (base_link) and set the time to be now. Set *trajectory_goal* as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` is defined by a list of the 6 points. Specify the coordinate frame that we want (base_link) and set the time to be now.
## Single Joint Actuator
```
##########################
### Group: stretch_arm ###
##########################
joint_lift: lower_limit = 0.00, upper_limit = 1.10 # in meters
wrist_extension: lower_limit = 0.00, upper_limit = 0.51 # in meters
joint_wrist_yaw: lower_limit = -1.75, upper_limit = 4.00 # in radians
##############################
### Group: stretch_gripper ###
##############################
joint_gripper_finger_left: lower_limit = -0.60, upper_limit = 0.60 # in radians
joint_gripper_finger_right: lower_limit = -0.60, upper_limit = 0.60 # in radians
###########################
### Group: stretch_head ###
###########################
joint_head_pan: lower_limit = -3.90, upper_limit = 1.50 # in radians
joint_head_tilt: lower_limit = -1.53, upper_limit = 0.79 # in radians
```

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