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annin_ar4_driver package from ar4_ros_driver repoannin_ar4_description annin_ar4_driver annin_ar4_gazebo annin_ar4_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 3.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ycheng517/ar4_ros_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Yifei Cheng
Authors
- Dexter Ong
- Yifei Cheng
annin_ar4_driver
This module contains the hardware interface for the AR4 robot.
Position Controller
The hardware_interface implements a Position Joint Trajectory Controller from the ros_control framework. It serves as an interface between the higher level planning (MoveIt) and the actuator driver (Teensy driver).
Joint Encoder Calibration
You can skip the automatic encoder calibration sequence with the launch
argument calibrate:=false. Since the original encoders (AMT-102V) are
relative encoders, they need to be calibrated against the limit switches when
powered on. If you are restarting the software but not the Teensy, the encoders
will have remained powered on and do not need to be recalibrated. Alternatively,
you can change the REST_ENC_POSITIONS values in the Teensy sketch so that the
encoders are initialised to those values on startup, provided that your arm is
also always initialised in that position as well. Before starting any movements,
it is always good to check in RViz that the model is in a sensible position to
verify that the encoders are properly calibrated.
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
| Name | Deps |
|---|---|
| annin_ar4_gazebo |