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--- intranet:projects:robot:armtopics [2014/06/04 17:11]
c7031109
+++ intranet:projects:robot:armtopics [2018/09/03 19:35] (current)
@@ Line 1: / Line 1: @@
+=====General startup information=====
 ===Starting the KRL Script===
 Start the Orocos scripts on the robot contoller. Do not do this alone if you use the robot for the first time. Contact the responsible person listed [[intranet:projects:robot:maintainers|here]].
@@ Line 6: / Line 7: @@
     $IIS_INCLUDE_PATH/iis_scripts/both_arms.sh
+If you are only running one arm, you can also run this one separately by using
+    $IIS_INCLUDE_PATH/iis_scripts/left_arm.sh
+or
+    $IIS_INCLUDE_PATH/iis_scripts/right_arm.sh
+respectively (depending on the script you are running on the KUKA controller side). As soon as you have started both scripts, you should be able to see the arm control topics listed below.
+===Using the robot in compliant mode to do gesture demonstration===
+In order to be able to manipulate the robot by hand to record gesture, follow these steps :
+   - Start the FriOrocos script normally in AUT mode (Spiral)
+   - Start roscore / arm / gripper scripts as indicated previously
+   - Through ROS, switch mode to mode 0 (Monitor mode, that should be acknowledged on the KCP) then switch to mode 30 (mode 101 not working at this date - June 23rd, 2017). You can just adjust the impedance (stiffness/damping) to make the robot more compliant :
+     rostopic pub /real/right_arm/joint_control/set_impedance iis_robot_dep/FriJointImpedance "stiffness: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
+     damping: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]"
+**BEWARE !!! If you set the impedance values back to a less compliant system, the arm will try to reach VERY FAST back to its initial position before manipulation. Thus, anything on the path will be damaged !!! Be sure to bring manually the arm back to its starting position to reduce this effect !**
 =====Arm Control Topics=====
@@ Line 20: / Line 44: @@
 ====Readable Topics====
+===settings/get_speed===
+Returns the current speed for ptp movements (see joint_control/ptp) as a number between 0 (no movement) and 1 (maximum speed)
+Message type:
+  std_msgs/Float64
+Sample call:
+  rostopic echo /real/right_arm/settings/get_speed
+Sample output:
+  data: 0.5
+===settings/get_command_state===
+Returns the current command state. The output is a 2-dim array, where the first number indicates if the arm is in command mode and the second number contains the exact command mode number.
+Message type:
+  std_msgs/Float32MultiArray
+Sample call:
+  rostopic echo /real/right_arm/settings/get_command_state
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [1.0, 10.0]
+===sensoring/temperature===
+Returns the temperature in each robot joint as array.
+Message type:
+  std_msgs/Float32MultiArray
+Sample call:
+  rostopic echo /real/right_arm/sensoring/temperature
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [42.40, 46.20, 45.90, 46.70, 45.90, 62.40, 61.20]
+===sensoring/state===
+Returns the current state of the robot as array. It contains 4 numbers:
+  * m_msr_data.robot.power
+  * m_msr_data.robot.control
+  * m_msr_data.robot.error
+  * m_msr_data.robot.warning
+Message type:
+  std_msgs/Int32MultiArray
+Sample call:
+  rostopic echo /real/right_arm/sensoring/state
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [0, 1, 0, 0]
+===sensoring/jacobian===
+Returns the Jacobian in the current robot position.
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  rostopic echo /real/right_arm/sensoring/jacobian
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [0.11856745183467865, 0.8065090179443359, 0.18409588932991028, 0.1728156954050064, -0.049717362970113754, -0.019414713606238365, 0.0, 0.6405692100524902, -0.00604418246075511, 0.08719471842050552,  -0.3324144184589386, -0.012777105905115604, 0.07554514706134796, 0.0, 0.25680267810821533, -0.04223119094967842, 0.026677558198571205, -0.25205785036087036, 0.0, 0.0, 0.0, -0.808161735534668, 0.016004111617803574, -0.06539558619260788, 0.9157959818840027, 0.16380904614925385, -0.9685274958610535, -0.0, -0.0841047391295433, 0.9862498044967651, -0.16312111914157867, 0.38198092579841614, -0.6374020576477051, -0.24890658259391785, 0.0, 0.5829245448112488, 0.16448475420475006, 0.9844363331794739, 0.12413008511066437, 0.7529177665710449, -0.0, 1.0]
+===sensoring/msr_jnt_trq===
+Returns the current measured total torques on each joint (7-dim float array).
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  rostopic echo /real/right_arm/sensoring/msr_jnt_trq
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [24.940000534057617, 33.150001525878906, 7.269999980926514, -4.840000152587891, -0.18000000715255737, 1.159999966621399, -0.46000000834465027]
+===sensoring/est_ext_jnt_trq===
+Returns the current torques applied on each joint (7-dim float array) excluding the torques generated by the rest of the arm itself. These values are estimated by the KUKA controller.
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  rostopic echo /real/right_arm/sensoring/est_ext_jnt_trq
+Sample output:
+  layout:
+    dim: []
+    data_offset: 0
+  data: [0.4312626123428345, 0.05431468039751053, 0.6109476685523987, -0.3116573691368103, -0.22619108855724335, 0.9795454144477844, -0.44677433371543884]
+===sensoring/error===
+Returns an error if one has been observed during the loop cycle. The message consists of an error code and an error message.
+Message type:
+  iis_orocos/OrocosError
+Sample call:
+  rostopic echo /real/right_arm/sensoring/error
+Sample output:
+  TODO
+===sensoring/cartesian_wrench===
+Returns the current cartesian forces and torques at the end effector
+Message type:
+  geometry_msgs/Wrench
+Sample call:
+  rostopic echo /real/right_arm/sensoring/cartesian_wrench
+Sample output:
+  force:
+    x: 2.77582025528
+    y: -0.254617959261
+    z: -3.10084724426
+  torque:
+    x: 0.430095881224
+    y: 0.816247463226
+    z: 0.547478497028
+===joint_control/ptp_reached===
+Returns the state of the current ptp movement (see joint_control/ptp). It returns an array with the first element being 1 when the final position is reached and 0 otherwise.
+Message type:
+  std_msgs/Int32MultiArray
+Sample call:
+  rostopic echo /real/right_arm/joint_control/ptp_reached
+Sample output:
+  TODO
+===joint_control/get_state===
+Returns the current joint positions of the arm
+Message type:
+  sensor_msgs/JointState
+Sample call:
+  rostopic echo /real/right_arm/joint_control/get_state
+Sample output:
+  header:
+    seq: 26774
+    stamp:
+      secs: 0
+      nsecs: 0
+    frame_id: dummy_frame_id
+  name: ['arm_0_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint']
+  position: [-0.025538215413689613, 0.8757621049880981, 1.995240569114685, 0.5836411118507385, -0.18975336849689484, 0.7183101773262024, 1.3192434310913086]
+  velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]      <-- not working currently
+  effort: [0.24101980030536652, 0.2610560357570648, 0.6392512917518616, -0.3438339829444885, -0.23192289471626282, 1.0096474885940552, -0.44344362616539]
+===joint_control/get_impedance===
+Returns joint impedance values
+Message type:
+  iis_orocos/FriJointImpedance
+Sample call:
+  rostopic echo /real/right_arm/cartesian_control/get_impedance
+Sample output:
+  stiffness: [250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0]
+  damping: [0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071]
 ===cartesian_control/get_impedance===
-Returns cartesian impedance values
+Returns Cartesian impedance values
 Message type:
@@ Line 53: / Line 260: @@
   axismaxdeltatrq: 0.0
-===cartesian_control/get_pose===
+===cartesian_control/get_pose_dir===
-Returns cartesian pose of the arm
+Returns cartesian pose of the arm In World space. The first 3 elements are the Cartesian position, the next 3 are the orientation of end-effector and the last one is the rotation around the end-effector axis
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  rostopic echo /real/right_arm/cartesian_control/get_pose_dir
+Sample output:
+  layout:
+  dim: []
+  data_offset: 0
+  data: [-0.1646200986390433, -0.30508448189857773, 0.23461338424203065, 0.3470495466622819, -0.8735133502317335, -0.34131054534893845, 0.9007184461592337]
+===cartesian_control/get_pose_quat===
+Returns cartesian pose of the arm in World space
 Message type:
@@ Line 60: / Line 282: @@
 Sample call:
-  rostopic echo /real/right_arm/cartesian_control/get_impedance
+  rostopic echo /real/right_arm/cartesian_control/get_pose_quat
 Sample output:
@@ Line 99: / Line 321: @@
 ====Writable Topics====
+===settings/switch_mode===
+Allows to set the current command mode of the arm according to the following modes:
+  * 10	Position Controller
+  * 20	Cartesian Stiffness Controller (be careful in mode 20 - calibration seems to be not complete for right arm - drifting observed)
+  * 30	Axis-specific Stiffness Controller
+  * 101	Gravity Compensation
+Sample call:
+  rostopic pub /real/right_arm/settings/switch_mode std_msgs/Int32 10
+===settings/set_speed===
+Sets the current speed for ptp movements (see joint_control/ptp) as a number between 0 (no movement) and 1 (maximum speed).
+Message type:
+  std_msgs/Float64
+Sample call:
+  rostopic pub /real/right_arm/settings/set_speed std_msgs/Float64 0.4
+===joint_control/set_impedance===
+Sets joint impedance values (stiffness, damping)
+Message type:
+  iis_orocos/FriJointImpedance
+Sample call:
+  rostopic pub /real/right_arm/joint_control/set_impedance iis_orocos/FriJointImpedance "stiffness: [250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0]
+  damping: [0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071, 0.699999988079071]"
+===joint_control/ptp===
+Movement in joint space for point to point movement. The robot has to be in an appropriate control mode before using this topic (otherwise it will not move) (see settings/switch_mode).
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  rostopic pub /real/right_arm/joint_control/ptp std_msgs/Float64MultiArray "layout:
+    dim:
+    - label: 'RAD'
+      size: 7
+      stride: 0
+    data_offset: 0
+  data: [-0.15538215413689613, 0.8757621049880981, 1.995240569114685, 0.5836411118507385, -0.18975336849689484, 0.7183101773262024, 1.3192434310913086]"
+===joint_control/move===
+Trajectory movement in joint space. The trajectory has to be provided in small pieces. This must *not* be used for ptp movement as it can yield high accelerations. It accepts the angles in which the arm joints should be after the next cycle (one cycle has a duration between 1 and 20 ms)
+Message type:
+  std_msgs/Float64MultiArray
+Sample call:
+  The following is not recommend to use outside of a program providing proper trajectories, as it can yield high accelerations when used wrongly
+  TODO
 ===cartesian_control/move===
-Trajectory movement in cartesian space. The trajectory has to be provided in small pieces. This must *not* be used for ptp movement as it can yield high accelerations. It accepts the pose in which the arm should be after the next cycle (one cycle has a duration between 1 and 20 ms)
+Trajectory movement in Cartesian space. The trajectory has to be provided in small pieces. This must *not* be used for ptp movement as it can yield high accelerations. It accepts the pose in which the arm should be after the next cycle (one cycle has a duration between 1 and 20 ms)
 Message type:
@@ Line 111: / Line 387: @@
 ===cartesian_control/ptp===
-Movement in cartesian space for point to point movement
+Movement in Cartesian space for point to point movement (see cartesian_control/get_pose_dir for the message structure). The robot has to be in an appropriate control mode before using this topic (otherwise it will not move) (see settings/switch_mode).
 Message type:
@@ Line 117: / Line 393: @@
 Sample call:
-  TODO
+  rostopic pub /simulation/right_arm/cartesian_control/ptp std_msgs/Float64MultiArray "layout:
+  dim:
+  - label: ''
+    size: 7
+    stride: 0
+  data_offset: 0
+  data: [-0.16415267011979597, -0.30530589495884486, 0.23607497182886716, 0.3474850741947719, -0.8739457439933868, -0.33975740849966135, 0.9000890133095816]"
+===/simulation/right_arm/cartesian_control/ptpQuaternion===
+Movement in Cartesian space for point to point movement. The robot has to be in an appropriate control mode before using this topic (otherwise it will not move) (see settings/switch_mode).
+Message type:
+  geometry_msgs/Pose
+Sample call:
+  rostopic pub /simulation/left_arm/cartesian_control/ptpQuaternion geometry_msgs/Pose "position:
+    x: -0.38878687339
+    y: 1.80645028202
+    z: 0.240840127477
+  orientation:
+    x: 0.0784292923653
+    y: 0.788223576718
+    z: 0.5547947503
+    w: 0.254470194702"
 ===cartesian_control/set_impedance===
 Sets cartesian impedance values (stiffness, damping, cpmaxdelta, maxforce, axismaxdeltatrq)
@@ Line 144: / Line 444: @@
 Sample call:
   rostopic pub /real/right_arm/cartesian_control/set_velocity_limit std_msgs/Float32 0.0
-===settings/switch_mode (write)===
-	modes:
-	Position Controller
-	Cartesian Stiffness Controller (be careful in mode 20 - calibration seems to be not complete for right arm - drifting observed)
-	Axis-specific Stiffness Controller
-	Gravity Compensation
-  usage example:
-		rostopic pub /real/right_arm/settings/switch_mode std_msgs/Int32 10
-===sensoring/cartesian_wrench (read)===
-	returns forces and torques
-===sensoring/state (read)===
-	returns int array containing robot state
-	[0]	power
-	[1]	control
-	[2]	error
-	[3]	warning
-===sensoring/temperature (read)===
-	returns temperature of robot joints in float array
-===joint_control/get_impedance (read)===
-	returns joint impedance values
-===settings/get_command_state (read)===
-	returns current command state in float32multiarray ([0] --> 0 = monitor mode, 1 = command mode; [1] --> number of control mode)
-===joint_control/move===
-        movement in joint space
-===joint_control/get_state===
-        returns joint pose of the arm
-===joint_control/set_impedance===
-        sets joint impedance values
-===joint_control/set_velocity_limit===
-        sets maximum velocity limit for movements in joint space

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