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Cartesian Controller Handles

This package provides graphical click-and-drop handles (interactive markers) for RViz to be used in conjunction with the CartesianMotionControllers.

The markers can be used to control the robot end-effector online, which is especially handy for testing scenarios and Cartesian trajectory teaching.

Getting started

The controller handles are implemented as ROS controllers, i.e. you must load and start them as you would with normal controllers. During operation a controller of type CartesianMotionController must be active for that robot to execute your target motion. For the interactive handle load your configuration to the parameter server, e.g:

my_motion_control_handle:
   type: "cartesian_controllers/MotionControlHandle"
   end_effector_link: "tool0"
   robot_base_link: "base_link"
   target_frame_topic: "/my_cartesian_motion_controller/target_frame"
   joints:
    - joint1
    - joint2
    - joint3
    - joint4
    - joint5
    - joint6

And spawn the handle accordingly:

<node name="controller_spawner" pkg="controller_manager" type="spawner" args="--stopped my_motion_control_handle" />

Explicitly start it whenever you want to interactively move your robot with RViz. Note: Make sure that no other controllers are publishing a target to your CartesianMotionController while using the motion control handle.

RViz

You must create a visualization in RViz to see and interact with the colored handles. Add InteractiveMarkers to your Displays menu and point it to the right Update Topic. The interactive handle only gets visualized if your MotionControlHandle is running. If you still see no handles, try toggling the Interactive Markers's checkbox.