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Arm control

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Mitchell Epp edited this page Mar 11, 2020 · 5 revisions

The arm has several components (this is probably inaccurate in some way -- please update it if something is wrong)

Commands are sent to the motors over CAN using an ArrayCommand
mapper.py converts the /arm/angles topic and sends it out to CAN
moveit converts some input topic to /arm/angles
Various arm control GUIs output either /arm/angles directly to control the arm without IK, or output moveit's input topic to control the arm with IK

Also,

rviz reads /joint_states to visualize the arm (via tf or with a model if you've loaded an arm model)