Controllers for Robotic Manipulation of Deformable Objects (MROD) to be used with Institut Pascal's UR robots.

Controllers use the VelocityJointInterface of UR robots that is part of Universal_Robots_ROS_Driver: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver

Controllers use the tools of ROS Control: http://wiki.ros.org/ros_control

Controllers use the tools of KDL: http://wiki.ros.org/kdl

(vel_based_shape_controller)

The controller implements shape control of linear elastic objects. The input is a desired array of node coordinates to be published on topic "desired_shape". It uses KDL solvers (notably inverse kinematics solver) in order to turn the desired twist into a target joint velocity sent to the interface.

The controller subscribes to this topic to get the goal node coordinates to be reached.

Name: "/vel_based_shape_controller/desired_shape"

Type: std_msgs/Float64MultiArray.

The controller subscribes to this topic to get the real node coordinates measured by vision.

Name: "/vel_based_shape_controller/vision_shape"

Type: std_msgs/Float64MultiArray.

The controller publishes on this topic to get the current pose of the end-effector

Type: geometry_msgs::Pose (with realtime_tools)

The controller publishes on this topic to get the current twist of the end-effector

Type: geometry_msgs::Twist (with realtime_tools)

(vel_based_cartesian_velocity_controller)

The controller implements a cartesian velocity control. The input is a desired twist value to be published on topic "cmd_vel".

It uses KDL solvers (notably inverse kinematics solver) in order to turn this desired twist into a target joint velocity sent to the interface.

The controller subscribes to this topic to get the desired value of cartesian velocity specified by the user

Type: geometry_msgs::Twist

The controller publishes on this topic to get the current pose of the end-effector

Type: geometry_msgs::Pose (with realtime_tools)

The controller publishes on this topic to get the current twist of the end-effector

Type: geometry_msgs::Twist (with realtime_tools)