infrastructure-arms Template

Overview

Contains ROS package (arm_control) for arm control with the infrastructure system. Each branch contains setup and control for different arms. The main branch contains a template for the ROS package (see example_arm_controller.py).

Note: With current implementation, you must not change the file name of example_arm_controller.py (see infrastructure_flexbe_behaviors).

arm_control Package Interface

Action Servers:

• start_arm_sequence
  • Action server that the User Arm Control stage action client sends a goal to.
  • Used to signal start of arm control. Sends result once arm control has finished

Services:

• None

Publishers:

• None

Subscribers:

• None

Topics:

• /start_arm_sequence/cancel
• /start_arm_sequence/feedback
• /start_arm_sequence/goal
• /start_arm_sequence/result
• /start_arm_sequence/status