nicoros - Motion

The Motion class allows control over the NICO motors through ROS.

To start the interface run:

rosrun nicoros Motion.py

Many options are available to change the behaviour of RosNico. For a list of them run:

rosrun nicoros Motion.py -h

Exposed topics

The following ROS topics are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/motion):

ROS topic name

Message type

Short description

$PREFIX/changeAngle

nicomsg/sff
Changes the angle of a single joint. Parameters:

  1. Name of joint

  2. Angle

  3. Fraction of max speed

$PREFIX/closeHand

nicomsg/s
Closes the hand. Parameters:

  1. “RHand” or “LHand”

$PREFIX/disableForceControl

nicomsg/s
Disables force control for a single joint. Parameters:

  1. Name of joint

$PREFIX/disableForceControlAll

nicomsg/empty

Disables force control for all joints

$PREFIX/disableTorque

nicomsg/s
Disables torque on a single joint. Parameters:

  1. Name of joint

$PREFIX/disableTorqueAll

nicomsg/empty

Disables torque on all joints.

$PREFIX/enableForceControl

nicomsg/si
Enables force control on a single joint. Parameters:

  1. Name of joint

  2. Goal force

$PREFIX/enableForceControlAll

nicomsg/i
Enables force control on all supported joints. Parameters:

  1. Goal force

$PREFIX/enableTorque

nicomsg/s
Enables torque on a single joint. Parameters:

  1. Name of joint

$PREFIX/enableTorqueAll

nicomsg/empty

Enables torque on all joints.

$PREFIX/openHand

nicomsg/s
Opens the hand. Parameters:

  1. “RHand” or “LHand”

$PREFIX/setAngle

nicomsg/sff
Sets the angle of a single joint. Parameters:

  1. Name of joint

  2. angle

  3. Fraction of max speed

$PREFIX/setMaximumSpeed

nicomsg/f
Sets the maximum allowed speed (in fraction of maximum possible speed). Parameters:

  1. Maximum speed

$PREFIX/setPID

nicomsg/sfff
Sets the PID control of a single joint. Parameters:

  1. Name of joint

  2. p (proportional band)

  3. i (integral action)

  4. d (derivative action)

$PREFIX/setStifftness

nicomsg/sf
Sets the stifftness of a single joint. Parameters:

  1. Name of joint

  2. stifftness

$PREFIX/palm_sensor/left

nicomsg/i

Publishes readings of the sensor in the left palm.

$PREFIX/palm_sensor/right

nicomsg/i

Publishes readings of the sensor in the right palm.

Exposed services

The following ROS services are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico):

ROS service name

Service type

Short description

$PREFIX/getAngle

nicomsg/GetValue

Returns the angle of a single joint

$PREFIX/getAngleLowerLimit

nicomsg/GetValue

Returns the lower limit of the angle for a single joint

$PREFIX/getAngleUpperLimit

nicomsg/GetValue

Returns the upper limit of the angle for a single joint

$PREFIX/getCurrent

nicomsg/GetValue

Returns the present currency of a single joint

$PREFIX/getJointNames

nicomsg/GetNames

Returns a list with the names of all joints

$PREFIX/getPID

nicomsg/GetPID

Returns the PID control of a single joint

$PREFIX/getSensorNames

nicomsg/GetNames

Returns a list with the names of all sensors

$PREFIX/getStifftness

nicomsg/GetValue

Returns the stifftness of a single joint

$PREFIX/getTemperature

nicomsg/GetValue

Returns the present temperature of a single joint

$PREFIX/getTorqueLimit

nicomsg/GetValue

Returns the torque limit of a single joint

$PREFIX/getVrep

nicomsg/GetString

Returns if vrep simulation is used or not

$PREFIX/getConfig

nicomsg/GetString

Returns the JSON configuration of motors

Class documentation