Gestures and motions skills¶
This page lists system skills (ie, installed by default) related to 👋 Gestures and motions. You can directly use these skills in your tasks and mission controller.
End effectors control ROS API¶
Topic interfaces¶
/hand_controller/joint_trajectory
: message documentation
(joint_trajectory_msg)
This topic is used to send a sequence of positions to each motor of the joints. An example to set the fingers to different positions using command line is shown below:
ros2 topic pub /gripper_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: [hand_thumb_joint, hand_index_joint, hand_mrl_joint]
points: [{positions: [0.1, 0.1, 0.1]}]"
/gripper_controller/joint_trajectory
: topic documentation and message documentation
(joint_trajectory_msg)
This topic is used to send a sequence of positions to each motor of the joints. An example to set the fingers to different positions using command line is shown below:
ros2 topic pub /gripper_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: [gripper_right_finger_joint, gripper_left_finger_joint]
points: [{positions: [0.1, 0.1]}]"
Action interfaces¶
/hand_controller/joint_trajectory
:
This topic is used to send a sequence of positions to each motor of the joints. An example to set the fingers to different positions using command line is shown below:
ros2 action send_goal /hand_controller/follow_joint_trajectory
control_msgs/action/FollowJointTrajectory "trajectory:
header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: [hand_thumb_joint, hand_index_joint, hand_mrl_joint]
points: [{positions: [0.1, 0.1, 0.1]}]
multi_dof_trajectory:
header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: []
points: []
path_tolerance: []
component_path_tolerance: []
goal_tolerance: []
component_goal_tolerance: []
goal_time_tolerance:
sec: 0
nanosec: 0"
/gripper_controller/follow_joint_trajectory
: action documentation
This topic is used to send a sequence of positions to each motor of the joints. An example to set the fingers to different positions using command line is shown below:
ros2 action send_goal /gripper_controller/follow_joint_trajectory
control_msgs/action/FollowJointTrajectory "trajectory:
header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: [gripper_right_finger_joint, gripper_left_finger_joint]
points: [{positions: [0.1, 0.1]}]
multi_dof_trajectory:
header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
joint_names: []
points: []
path_tolerance: []
component_path_tolerance: []
goal_tolerance: []
component_goal_tolerance: []
goal_time_tolerance:
sec: 0
nanosec: 0"
List of all available ROS actions¶
/arm_controller/follow_joint_trajectory
Moves the arm joints to the desired positions
/gripper_controller/follow_joint_trajectory
This action encapsulates the
trajectory_msgs/JointTrajectory
message-
Moves the gripper joints the desired increment
/head_controller/follow_joint_trajectory
Moves the head joints to the desired positions
-
Moves the head joints the desired increment
/head_controller/point_head_action
Moves the head joints to the necessary positions to point to a desired position, performing inverse kinematics
-
Allows executing simultaneous trajectories in multiple groups of joints.
/safe_arm_controller/follow_joint_trajectory
Moves the arm joints to the desired positions providing there are no self-collisions
/safe_torso_controller/follow_joint_trajectory
This action encapsulates the
trajectory_msgs/JointTrajectory
message; the goal is discarded if a self-collision will occur./torso_controller/follow_joint_trajectory
This action encapsulates the
trajectory_msgs/JointTrajectory
message