OARBot Helper Laptops
note
If you create a new node and configure it to automatically launch (see Fixing Bugs & Adding Features for more info on this process), be sure to update this page as well
The following nodes are automatically launched on both OARBot laptops. They may launch additional nodes. All nodes are namespaced under the name of the OARBot launching it.
| Node Name | Purpose |
|---|---|
| domain_bridge | Bridges ROS2 topics from Dingo domain IDs into the default domain ID of 0. For more info, see Hardware Overview. |
| kinova_driver | Communicates with the Kinova arm. Publishes and subscribes to topics/actions to view arm state and move the arm. |
| azure_kinect_ros_driver | Communicates with the Azure Kinect camera. Publishes camera and IMU data. |
| joint_state_publisher | Takes in joint_state topics from the Dingo base and Kinova arm and publishes them in a single topic. |
| dingo_joint_state_renamer | Takes the Dingo joint_state topic as input and adds the oarbot_<NAME>/ prefix to all joint names. This node is necessary as joint_state and tf frame names should be identical, and tf frames are already prefixed. |
| kinova_joint_state_renamer | Takes the Kinova joint_state topic as input and adds the oarbot_<NAME>/ prefix to all joint names. This node is necessary as joint_state and tf frame names should be identical, and tf frames are already prefixed. |
| robot_state_publisher | Combines joint_state info and a robot description urdf file to publish tf frames and the robot description over a topic. |
| moveit_ros_move_group | Allows for interaction with MoveIt for inverse kinematics and motion planning on the Kinova arm. |
| joint_trajectory_action_server | Allows publishing joint trajectories (sets of joint angles) for the Kinova arm to use. Used for MoveIt motion planning. |
| gripper_command_action_server | Allows publishing commands to open & close the gripper on the Kinova end effector. |
| rokubi_force_torque_publisher | Takes force-torque data and tf frames to publish raw force torque values and calibrated force torque values (force torque value without gravity on the end effector). |