Only released in EOL distros:
Package Summary
Maxwell is a custom mobile manipulator, this package contains his configuration and launch files.
- Author: Michael Ferguson
- License: BSD
- Source: svn https://vanadium-ros-pkg.googlecode.com/svn/trunk/maxwell
Package Summary
Maxwell is a custom mobile manipulator, this package contains his configuration and launch files.
- Maintainer: Michael Ferguson <mike AT vanadiumlabs DOT com>
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/maxwell.git (branch: sixdof)
Package Summary
Maxwell is a custom mobile manipulator, this package contains his configuration and launch files.
- Maintainer: Michael Ferguson <mike AT vanadiumlabs DOT com>
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/maxwell.git (branch: sixdof)
Package Summary
Maxwell is a custom mobile manipulator, this package contains his configuration and launch files.
- Maintainer: Michael Ferguson <mike AT vanadiumlabs DOT com>
- Author: Michael Ferguson
- License: BSD
- Source: git https://github.com/mikeferguson/maxwell.git (branch: indigo-devel)
Contents
Package Organization
This package contains robot description and configuration files for Maxwell, organized into subdirectories as follows:
urdf/ contains (xacro representations of) urdf descriptions of various parts of the Maxwell (arm, head, etc.), and the full robot.
meshes/ contains mesh files (.stl) for visualization and collision properties
params/ contains yaml specification files for the ArbotiX driver and diagnostics.
launch/ contains roslaunch files for starting up Maxwell, on real hardware, or in simulation.
nodes/ contains several python-based nodes, which currently have no home.
Starting Up Maxwell
To start Maxwell, use one of the following launch files:
bringup_maxwell.launch connects to real hardware.
head_camera.launch starts the Asus Xtion on Maxwell.
fake_maxwell.launch starts a simulated version of the ArbotiX node. This can be useful for testing arm code.
Interacting with Maxwell
Moving the Base
The base uses a standard geometry_msgs/Twist message on the cmd_vel topic to set desired velocity.
Moving the Arm
See maxwell_arm_navigation and maxwell_interactive_markers.
Accessing Sensor Information
Sensor Data |
Topic Name |
base: position |
/odom and /tf |
camera: 2D color image |
/camera/rgb/image |
camera: 2D grayscale image |
/camera/rgb/image_mono |
camera: 3D point cloud |
/camera/rgb/point |
joints: positions |
/joint_states |
Use of /camera/depth is not recommended as most of our demos will use the topics in the /camera/rgb namespace.
