Gestures and motions skills and API#

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 (documentation) Moves the arm joints to the desired positions
/arm_left_controller/follow_joint_trajectory (documentation)
/arm_right_controller/follow_joint_trajectory (documentation)
/gripper_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message
/gripper_controller/increment (documentation) Moves the gripper joints the desired increment
/head_controller/follow_joint_trajectory (documentation) Moves the head joints to the desired positions
/head_controller/increment (documentation) Moves the head joints the desired increment
/head_controller/point_head_action (documentation) Moves the head joints to the necessary positions to point to a desired position, performing inverse kinematics
/joy_turbo_reset (documentation)
/motion_manager (documentation)
/pickup (documentation)
/place (documentation)
/play_motion (documentation)
/play_motion_builder_node/build (documentation)
/play_motion_builder_node/run (documentation)
/safe_arm_controller/follow_joint_trajectory (documentation) Moves the arm joints to the desired positions providing there are no self-collisions
/safe_arm_left_controller/follow_joint_trajectory (documentation)
/safe_arm_right_controller/follow_joint_trajectory (documentation)
/safe_torso_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message; the goal is discarded if a self-collision will occur.
/torso_controller/follow_joint_trajectory (documentation) This action encapsulates the trajectory_msgs/JointTrajectory message
/torso_controller/increment (documentation)
/play_motion2 (documentation) Allows executing simultaneous trajectories in multiple groups of joints.

See %PALGITHUB%/play_motion2 for details.