⚠️ This repository will be achieved soon in favor of https://github.com/INTERACT-tud-amr/dinova
- Install Kinova python-API: https://github.com/Kinovarobotics/kortex/blob/master/api_python/examples/readme.md
roslaunch kinova_ros_interface kinova_driver.launch
The default control mode is High Level Velocity
. If you want to change the control modes, you need to call rosservices:
/kinova/change_to_HLC_position
- The mode is switched to HLC position control and the/kinova/command
topic expects desired joint positions/kinova/change_to_HLC_velocity
- The mode is switched to HLC position control and the/kinova/command
topic expects desired joint velocities/kinova/change_to_LLC_position
- The mode is switched to LLC position control and the/kinova/command
topic expects desired joint positions/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
Topics:
/kinova/command
- Topic for controlling kinova's joints/kinova/error_ack
- Topic for acknowledging faults/kinova/gripper
- Topic for controlling relative fingers' positions/kinova/joint_states
- Topic for subscribing the actual state of the robot in [rad, rad/s, Nm]
Useful services:
rosservice call /kinova/go_zero_position
- Move an arm to zero joint positionrosservice call /kinova/go_home_position
- Move an arm to home joint position