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          robotis_framework: robotis_controller | robotis_device | robotis_framework_common

          Package Summary

          robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series

          ROS Software Maintainer: ROBOTIS

          ROBOTIS e-Manual

          ROS API

          robotis_controller

          Subscribed Topics

          /robotis/write_control_table (robotis_controller_msgs/WriteControlTable)
          • The message can write multiple item values to a specific joint by using Sync Write.
          /robotis/sync_write_item (robotis_controller_msgs/SyncWriteItem)
          • The message can write a specific item value to multiple joints by using Sync Write.
          /robotis/set_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)
          • The message can configure motion modules that controls specific joints.
          /robotis/enable_ctrl_module (std_msgs/String)
          • This message assigns a specific motion module that manages specific joints to a motion control module.
          /robotis/set_control_mode (std_msgs/String)
          • The message sets the control mode of robotis_controller to ether DIRECT_CONTROL_MODE or MOTION_MODULE_MODE.
          /robotis/set_joint_states (sensor_msgs/JointState)
          • This message includes status data for each joint. The data in this message is transmitted to each joint to control the joint.
          /[gazebo_robot_name]/joint_states (sensor_msgs/JointState)
          • This message includes status data for each joint from gazebo. When gazebo mode is enabled, the data in this message is transmitted to each joint to control the joint.

          Published Topics

          /robotis/goal_joint_states (sensor_msgs/JointState)
          • The message publishes goal joint status value for each joint.
          /robotis/present_joint_states (sensor_msgs/JointState)
          • The message publishes present joint status value read from each joint.
          /robotis/present_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)
          • The message publishes current status of motion module that controls each joint.

          Services

          /robotis/get_present_joint_ctrl_modules (robotis_controller_msgs/GetJointModule)
          • The service to get the configuration of motion module that controls each joint.
          /robotis/set_present_joint_ctrl_modules (robotis_controller_msgs/SetJointModule)
          • The service to set the configuration of motion module that controls each joint.
          /robotis/set_present_ctrl_modules (robotis_controller_msgs/SetModule)
          • The service to set the configuration of motion module that controls all joints.

          Wiki: robotis_controller (2018-04-03 08:44:58由zerom編輯)

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