ROS机械臂常用功能包

urdf_tutorial:

1. joint_state_publisher

http://wiki.ros.org/joint_state_publisher

2. robot_state_publisher

http://wiki.ros.org/robot_state_publisher

3. urdf_sim_tutorial

可以学习ROS-Gazebo的使用

4. joint_state_controller/JointStateController：Gazebo发布机器人的关节状态

    position_controllers/JointPositionController：让Gazebo订阅了一个由ROS发布的话题,控制一个joint

rostopic pub /r2d2_head_controller/command std_msgs/Float64 "data: -0.707"

    position_controllers/JointGroupPositionController：控制一个group,而不是单个joint

rostopic pub  /r2d2_gripper_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 3
    stride: 1
  data_offset: 0
data: [-0.4, 0, 0]"

　　hardware_interface/VelocityJointInterface</hardwareInterface>

　　diff_drive_controller/DiffDriveController

5. rqt_robot_steering：

<param name="default_topic" value="/r2d2_diff_drive_controller/cmd_vel"/>