WristPushDemo

This is a ros node that uses the force torque readings for the wrist to control movement of the shoulder and elbow motors.

The node will initially extend the arm, and either halt movement or retract the arm depending on the force applied.

Dependencies: This demo depends on the ROS package MAESTRO for robot control.

REQUIREMENTS

Ubuntu 12.04 LTS
ROS Fuerte
MAESTRO (ROS stack)

To Run

Preconditions:

Maestro must already be started.
Motors must already be homed and enabled in Maestro
Motors RSP and REP must be enabled
Force Torque Sensor RWT must be available

Run:

run 'roslaunch wrist_demo demo.launch'
Wait for the robot arm to extend fully
Press Enter to calibrate low
While pushing the wrist in the direction of the arm, press Enter to calibrate high
Push the wrist in to move the arm inwards, and release to make the arm extend.
Exit the demo by pressing Enter a third time. The arm will return to ground state.
If the program is interrupted (via a break, for example) the arm will not return to ground state.