NOTES.md

Fetch

ROS Topics

• Subscribe to head_camera/depth_registered/points, of type sensor_msgs/PointCloud2

  • Note: head_camera/depth/* not available in simulator.

• Subscribe to base_scan of type sensor_msgs/LaserScan

• Subscribe to imu of type sensor_msgs/Imu

• Write to arm_with_torso_controller/follow_joint_trajectory of type control_msgs/FollowJointTrajectory

  • Or maybe a higher level interface through Moveit.

• Write to cmd_vel of type geometry_msgs/Twist

• Write to head_controller/point_head of type control_msgs/PointHead

• Write to gripper_controller/gripper_action of type control_msgs/GripperCommand

  • turn a single grip strength number into position and effort, where <=0 means open and >0 means closed with corresponding effort