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]}]"

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"

List of all available ROS actions