QB Robotics SoftClaw Manual page 30

26 — SOFTWARE
remove it since the default value is
activate_motors
rosservice call /communication_handler/activate_motors {"id: <actual_device_id>, max_repeats: 0"}
Additional arguments
•
control_duration [0.01]
•
get_currents [true]
•
get_positions [true]
device.
•
get_distinct_packages [true]
measurements from the device in two distinct packages.
•
max_repeats [3]
corrupted.
•
set_commands [true]
•
set_commands_async [true]
•
use_rviz [false]
on screen performing a similar behavior. When this parameter is set to true, by default is enabled an
Interactive Marker too, which allows to control the Claw graphically. The rviz window is the one
shown in next figure
Using qbrobotics ros packages, it is possible to switch the device control modality (position/deflection
described here
(see Page 10)
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
Service, when your system is ready, e.g. as follows:
: The duration of the control loop expressed in seconds.
: Choose whether or not to retrieve current measurements from the device.
: Choose whether or not to retrieve position measurements from the
: Choose whether or not to retrieve current and position
: The maximum number of consecutive repetitions to mark retrieved data as
: Choose whether or not to send command positions to the device.
: Choose whether or not to send commands without waiting for ack.
: Choose whether or not to use rviz. If enabled you should see a virtual SoftClaw
.
(see Page 0)
Figure 7. — SoftClaw rviz window with interactive marker
), using a rosservice:
) and make a call to the Communication Handler
false