ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS Message Types
JointPosition.msg
This message has (string[]) joint_name, (float64[]) position, (float64) max_accelerations_scaling_factor and (float64) max_velocity_scaling_factor.
KinematicsPose.msg
This message has (geometry_msgs/Pose) pose, (float64) max_accelerations_scaling_factor, (float64) max_velocity_scaling_factor and (float64) tolerance.
OpenManipulatorState.msg
This message shows robot state. It has (string) open_manipulator_moving_state and (string) open_manipulator_actuator_state.
ROS Service Types
GetJointPosition.srv
Set (string) planning_group,
and get (JointPosition) joint_position.
GetKinematicsPose.srv
Set (string) planning_group and (string) end_effector_name,
and get (KinematicsPose) kinematics_pose and (Header) header.
SetActuatorState.srv
Set (bool) set_actuator_state,
and get (bool) is_planned.
SetDrawingTrajectory.srv
Set (string) end_effector_name, (string) drawing_trajectory_name, (float64[]) param and (float64) path_time,
and get (bool) is_planned.
SetJointPosition.srv
Set (string) planning_group, (JointPosition) joint_position and (float64) path_time,
and get (bool) is_planned.
SetKinematicsPose.srv
Set (string) planning_group, (string) end_effector_name, (KinematicsPose) kinematics_pose and (float64) path_time,
and get (bool) is_planned.