README.md

kinova_gen3_pad

Package containing robotnik_pad plugins for teleoperating Kinova Gen3 arms.

Installation

The package depends on some Robotnik packages:

• robotnik_pad 🔗

git clone https://github.com/RobotnikAutomation/rcomponent

This package also depends on kortex driver:

• ros_kortex 🔗

git clone https://github.com/RobotnikAutomation/ros_kortex.git

Parameters

This an example of a config file loading the kinova gen3 plugin:

plugins:
  - KinovaArmGen3

KinovaArmGen3:
  type: robotnik_pad_plugins/KinovaArmGen3
  arm_control_topic_name: /robot/arm/in/cartesian_velocity
  set_home_service_name: /robot/arm/in/home_arm
  max_linear_speed: 2.0
  max_angular_speed: 3.0
  config:
    button_deadman: 4
    button_movement_deadman: 5 # this plugin will not work if movement deadman button is pressed
    button_home_arm: 12

    axis_open_gripper: 4
    axis_close_gripper: 3

    axis_linear_x_ee: 1
    axis_linear_y_ee: 0
    axis_linear_z_ee: 10

    axis_angular_x_ee: 5
    axis_angular_y_ee: 2
    axis_angular_z_ee: 9

    button_speed_up: 3
    button_speed_down: 1