ManipulatorControl

Dependencies

• numpy (v1.26)
• dynamixel_sdk
• ROS2 (rclpy)

Internal Dependencies:

• Terrawarden-MQP/CustomMessages

Node Info

Manipulator Control is a lightweight node for controlling a 3DOF arm using Dynamixel actuators with Quintic Trajectories. It also contains a setpoint queue for processing multi-step commands, such as pre-written stow + unstow procedures.

Trajectory Modes

• TrajectoryModes.JOINT_SPACE - Joint space quintic trajectory
• TrajectoryModes.TASK_SPACE - Task space quintic trajectory
• TrajectoryModes.LIVE_TRACK - Skips quintic trajectory, queues arm motion instantly for live tracking incoming positions

ROS Info

Publishers

Topic	Type	Description
/arm_status	ArmStatus (see CustomMessages)	A recurring message (100Hz) with information about the Arm's position, velocity, and current motion plans
/ee_pos	geometry_msgs/PointStamped	A recurring message (100 Hz) with the 3D Position of the End Effector

Subscribers

Topic	Type	Description
/move_arm_command	ArmCommand (see CustomMessages)	An incomming arm motion command. Interrupts any previous motion plans
/force_grasp	std_msgs/Bool	A command to open/close the gripper directly

Services

Topic	Parameters	Description
/stow_arm	None	Queues the stow routine
/unstow_arm	None	Queues the unstow routine

ros2 launch args

Argument	Type	Description
None