MoveIt! Sample of the Panda Robot

The repository to manipulate Panda robot powered by MoveIt!.

Topics

• /hiro/panda/error_recover: recover the error mode

  • usage: rostopic pub -1 /hiro/panda/error_recover std_msgs/Empty "{}"

• /hiro/panda/gripper_cmd: make the gripper close/open

  • open: rostopic pub -1 /hiro/panda/gripper_cmd std_msgs/String "data: 'open'"
  • close: rostopic pub -1 /hiro/panda/gripper_cmd std_msgs/String "data: 'open'"

• /hiro/panda/target: move the robot to target position in Cartesian space

  • example: rostopic pub -1 /hiro/panda/target geometry_msgs/Pose "{position:{ x: -0.48, y: -0.16, z: 0.40}, orientation:{ x: 1.0, y: 0.0, z: 0.0, w: 0.0}}"

• /hiro/panda/vel_cmd: Send Cartesian Velocity command to the robot

  • example: rostopic pub -1 /hiro/panda/cmd_vel geometry_msgs/Twist "{linear:{ x:0.0, y: 0.0, z: 0.01}, angular:{ x: 0.0, y: 0.0, z: 0.0}}"