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Object Command Payload
Adnan Munawar edited this page May 1, 2019
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| ObjectCmd Payload | Description |
|---|---|
| header | The ROS message header includes seq_number, time_stamp and frame_id. frame_id not used for now |
| pose | The pose command (position and orientation) in Parent frame |
| wrench | The wrench command (force and torque) for this body in World Frame |
| enable_position_controller | Boolean to inform which command to consider 1 for pose Command & 0 for wrench Command |
| joint_cmds | An array of joint commands for children joints |
| position_controller_mask | A mask to inform if the joint command is a Position Control Target or Effort Command |
The AMBF Simulator
Introduction
- Installing AMBF
- Launching the Simulator
- Selecting Robot(s) to Launch
- The Python Client
- Understanding the Input Device Specification
- Understanding Command Line Arguments
- Keyboard and Mouse Shortcuts
- Mouse Control Multipliers
Useful Tools
Concepts:
- Collision Filtering
- Preprocessing Shaders
- Publishing Camera Feed and Depth Point Cloud
- Setting Per Object or Per Model Level Gravity:
Examples