⚠️ This repository will be achieved soon in favor of https://github.com/INTERACT-tud-amr/dinova

kinova_ros_interface

Requirements

1. Install Kinova python-API: https://github.com/Kinovarobotics/kortex/blob/master/api_python/examples/readme.md

Running a real robot

    roslaunch kinova_ros_interface kinova_driver.launch

The default control mode is High Level Velocity. If you want to change the control modes, you need to call rosservices:

1. /kinova/change_to_HLC_position - The mode is switched to HLC position control and the /kinova/command topic expects desired joint positions
2. /kinova/change_to_HLC_velocity - The mode is switched to HLC position control and the /kinova/command topic expects desired joint velocities
3. /kinova/change_to_LLC_position - The mode is switched to LLC position control and the /kinova/command topic expects desired joint positions
4. /kinova/change_to_LLC_velocity - The mode is switched to LLC position control and the /kinova/command topic expects desired joint velocities. NOT RECOMMENDED YET

Topics:

1. /kinova/command - Topic for controlling kinova's joints
2. /kinova/error_ack - Topic for acknowledging faults
3. /kinova/gripper - Topic for controlling relative fingers' positions
4. /kinova/joint_states - Topic for subscribing the actual state of the robot in [rad, rad/s, Nm]

Useful services:

1. rosservice call /kinova/go_zero_position - Move an arm to zero joint position
2. rosservice call /kinova/go_home_position - Move an arm to home joint position