README.md

qbmove_ros

Project contains four packages:

• Plugin, for simulating variable stiffness actuators (VSA) like qbmove, easily embedding them in a robot in a Gazebo simulator and control them using ROS.
• Real, package to work with real qbmoves
• Msgs, contains messages descriptions, plugin and real pkgs depend on it.
• Example, contains urdf with example how to add plugin.

Real

Dependencies:

ROS

qbmove-ros package

qbdevice-ros package

To install them:

sudo apt install ros-kinetic-qb-move

How to use:

Just add next code in your launch file

  <node name="qb_topics_motor_2" pkg="qbmove_real" type="qb_topics_motor.py"  output="screen">
	<param name="id" value="2" type="int" />
	<param name="command_topic" value="/qbmove_2/command" type="string" />
	<param name="pos_topic" value="/qbmove_2/position" type="string" />
	<param name="hz" value="10" type="int" />
  </node>

Parameters to control (command_topic and pos_topic) - the same as for plugin, additional id - id of the qbmove; and hz - frequency for publishing pos_topic (reading qbmove positions).

Example:

roslaunch qbmove_real qbmove_real_test.launch

And now you have ros topics and can control your qbmove:

• /qbmove_2/command
• /qbmove_2/position

Plugin

Dependencies:

ROS

Gazebo

(Tested with ROS Kinetic and Gazebo7)

How to use:

Just add next code in your urdf (do not forget to remove your controller for the appropriate joint):

    <gazebo>
        <plugin name="qbmove_1" filename="libqbmove_plugin.so">
            <joint>your_joint</joint>
            <command_topic>/command_topic_name</command_topic>
            <pos_topic>/position_topic_name</pos_topic>
        </plugin>
    </gazebo>

Example:

catkin build
roslaunch qbmove_example two_cubes.launch

And now you have ros topics and can control your VSA:

• /qbmove_1/command
• /qbmove_1/position
• /qbmove_2/command
• /qbmove_2/position

Thanks

valeria-parnenzini for the initial work on plugin: https://github.com/valeria-parnenzini/qbmove_plugin