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MTM ROS Example

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Zihan Chen edited this page May 20, 2015 · 1 revision

Launch one MTM arm and control from ROS.

Launch

# NOTE
# make sure you select correct IO and PID config file 
# in test_dvrk_mtm.launch 
roslaunch dvrk_robot test_dvrk_mtm.launch

Home Robot

# Other supported states (see mtsIntuitiveResearchKitMTM::SetRobotControlState):
#  - Home/Gravity/Clutch
rostopic pub /dvrk_mtm/set_robot_state std_msgs/String Home -1

Read Robot

rostopic echo /dvrk_mtm/cartesian_pose_current