Controllers API¶

The ROS API for the controllers in the ubr_controllers package.

point_head¶

point_head provides an action interface for pointing UBR-1’s head.

point_head/goal (control_msgs/PointHeadGoal): Target to point the head at and how fast to move the head.
point_head/cancel (actionlib_msgs/GoalID): A request to cancel a specific goal.

point_head/feedback (control_msgs/PointHeadFeedback): Empty.
point_head/status (actionlib_msgs/GoalStatusArray): Provides status information on goals.
point_head/result (control_msgs/PointHeadResult): Empty.

~stop_with_action (bool, default: False): Option to stop the controller at the completion of a goal. If false, the controller will the final position.

base_controller provides the command interface for the UBR-1 base.

base_controller/command (geometry_msgs/Twist): The standard ROS interface for controlling a mobile base.

~base_frame (string, default: “base_link”): Name of the base frame.
~max_acceleration_x (double, default: 0.5): Maximum forward acceleration of the UBR-1.
~max_acceleration_r (double, default: 2.97044): Maximum angular acceleration of the UBR-1.
~max_velocity_x (double, default: 1.0): Maximum forward velocity of the UBR-1.
~max_velocity_r (double, default: 4.45566): Maximum angular velocity of the UBR-1.
~odometry_frame (string, default: “odom”): Name of the odometric frame, if publishing tf.
~publish_tf (bool, default: True): Option to publish tf.
~radians_per_meter (double, default: 17.497814374): Radian per meter of the UBR-1 base.
~timeout (double, default: 0.25): Amount of time between commands before stopping the base.
~track_width (double, default: 0.33665): Track width of the UBR-1. This is typically calibrated using ubr_calibration, and stored in the /etc/ros/<distro>/robot.launch file.

follow_joint_trajectory provides a trjectory interface for the configured joints defined by the joints parameter.

~/goal (control_msgs/FollowJointTrajectoryGoal): Trajectory for the listed joints to follow with path and goal tolerances.
~/cancel (actionlib_msgs/GoalID): A request to cancel a specific goal.

~/feedback (control_msgs/FollowJointTrajectoryFeedback): Current state, error, and goal of the trajectory.
~/status (actionlib_msgs/GoalStatusArray): Provides status information on goals.
~/result (control_msgs/FollowJointTrajectoryResult): Provides result of trajectory following.

~joints ([string], default: NONE): List of joint names.
~stop_with_action (bool, default: False): Option to stop the controller at the completion of a goal. If false, the controller will the final position.