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dinova_control

Requirements

  1. Install Kinova python-API: https://github.com/Kinovarobotics/kortex/blob/master/api_python/examples/readme.md

Control modes for kinova

The default control mode is High Level Velocity. If you want to change the control modes, you need to call rosservices:

  1. <robot_name>/kinova/change_to_HLC_position - The mode is switched to HLC position control and the /kinova/command topic expects desired joint positions
  2. <robot_name>/kinova/change_to_HLC_velocity - The mode is switched to HLC position control and the /kinova/command topic expects desired joint velocities
  3. <robot_name>/kinova/change_to_LLC_position - The mode is switched to LLC position control and the /kinova/command topic expects desired joint positions NOT RECOMMENDED YET
  4. <robot_name>/kinova/change_to_LLC_velocity - The mode is switched to LLC position control and the /kinova/command topic expects desired joint velocities. NOT RECOMMENDED YET Possible robot_names in the MRL are "dingo1" and "dingo2".

Important topics

Topics:

  1. <robot_name>/kinova/command - Topic for controlling kinova's joints
  2. <robot_name>/cmd_vel - Topic for controlling omnibase's velocities
  3. <robot_name>/kinova/error_ack - Topic for acknowledging faults
  4. <robot_name>/kinova/joint_states - Topic for subscribing the actual state of the robot in [rad, rad/s, Nm]
  5. <robot_name>/dinova/joint_states - Topic for subscribing the actual state of dinova [wheels, q]. This is mainly use for RViz, tf, ...
  6. <robot_name>/dinova/omni_states - Topic for subscribing the actual state of dinova [x, y, theta, q]. The omnibase pose is received from odometry.
  7. <robot_name>/dinova/omni_states_vicon - Topic for subscribing the actual state of dinova [x, y, theta, q]. The omnibase pose is received from vicon. Possible robot_names in the MRL are "dingo1" and "dingo2".

Useful services:

  1. rosservice call <robot_name>/kinova/go_zero_position - Move an arm to zero joint position
  2. rosservice call <robot_name>/kinova/go_home_position - Move an arm to home joint position
  3. rosservice call <robot_name>/kinova/gripper/open - Open gripper
  4. rosservice call <robot_name>/kinova/gripper/close - Close gripper Possible robot_names in the MRL are "dingo1" and "dingo2".