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This is an archived project. Repository and other project resources are read-only.
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CeTI
ROS
ROS Packages
panda_simulation
Commits
7b3e64ff
Commit
7b3e64ff
authored
5 years ago
by
Sebastian Ebert
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documentation of mqtt-interfaces
parent
d6b9518b
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README.md
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README.md
src/RobotStateProvider.cpp
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src/RobotStateProvider.cpp
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README.md
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7b3e64ff
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@@ -77,6 +77,58 @@ $ sudo ldconfig
(source: https://github.com/eclipse/paho.mqtt.cpp/blob/master/README.md)
## Provided MQTT-Interfaces
### Configuration of the data-stream (ROS -> RAG)
#### General
*
Channel: dataconfig
*
Protobuff-message format defined in ../panda_simulation/src/proto/dataconfig.proto
*
Changes submitted data starting from the next data-package retreived from gazebo
#### Parameter
*
Parameter "data_publish_rate" means in which intervals messages are pulled out of gazebo's data stream
*
data_enable_position, true -> send joint positions
*
data_enable_orientation, true -> send joint orientations
*
data_enable_twist_linear, true -> sent linear twists of joints
*
data_enable_twist_angular, true -> sent angular twists of joints
### Configuration of the simulated robot
#### General
*
Channel: robotconfig
*
Protobuff-message format defined in ../panda_simulation/src/proto/robotconfig.proto
#### Parameter
*
robot_speed_factor, defines how fast the robot moves starting from the next trajectory-point
*
is a factor multiplied to the speed computed by the trajectory-planning algorithm
*
Range: 0,1 to 1,0 (recommed are values > 0.3)
### Datastream format
#### General
*
Data for every link has its own mqtt-channel (defined in section bellow)
*
Protobuff-message format defined in ../panda_simulation/src/proto/linkstate.proto
#### Channels
*
panda_ground: ground-plate
*
panda_link_0: link_0 of the panda
*
panda_link_1: link_1 of the panda
*
panda_link_2: link_2 of the panda
*
panda_link_3: link_3 of the panda
*
panda_link_4: link_4 of the panda
*
panda_link_5: link_5 of the panda
*
panda_link_6: link_6 of the panda
*
panda_link_7: link_7 of the panda (end effector)
*
panda_link_8: link_8 of the panda (left finger)
*
panda_link_9: link_9 of the panda (right finger)
## Changelog
#### Safetyzones
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src/RobotStateProvider.cpp
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@@ -14,9 +14,9 @@ bool export_to_log = false;
* mqtt-topics for all links
* ground, link0, link1, link2, link3, link4, link5, link6, link7 (end-effector), left finger, right finder
*/
std
::
string
topics
[
11
]
=
{
"panda_link_0"
,
"panda_link_1"
,
"panda_link_2"
,
"panda_link_3"
,
"panda_link_4"
,
"panda_link_5"
,
"panda_link_6"
,
"panda_link_7"
,
"panda_link_8"
,
"panda_link_9"
,
"panda_link_10"
};
std
::
string
topics
[
11
]
=
{
"panda_ground"
,
"panda_link_0"
,
"panda_link_1"
,
"panda_link_2"
,
"panda_link_3"
,
"panda_link_4"
,
"panda_link_5"
,
"panda_link_6"
,
"panda_link_7"
,
"panda_link_8"
,
"panda_link_9"
};
bool
mqttSetup
=
false
;
bool
isInitialized
=
false
;
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