<> <> ''ROS Software Maintainer: [[ROBOTIS]]'' == ROBOTIS e-Manual == * [[http://emanual.robotis.com/docs/en/platform/openmanipulator/|ROBOTIS e-Manual for OpenMANIPULATOR-X]] == ROS API == {{{ #!clearsilver CS/NodeAPI node.0 { name= open_manipulator_control_gui desc= This node provides '''graphical user interface''' based on QT. sub{ 0{ name= states type= open_manimulator_msgs/OpenManipulatorState desc= Subscribe whether the manipulator is moving or not, and whether the actuators are enabled or disabled. } 1{ name= joint_states type= sensor_msgs/JointState desc= Subscribe robot joint states such as joint position. } 2{ name= kinematics_pose type= open_manipulator_msgs/KinematicsPose desc= Subscribe kinematic pose of manipulator end-effector. } } pub{ 0{ name= option type= std_msgs/String desc= Publish options to the manipulator in std::string format. } } srv_called{ 0{ name= goal_joint_space_path type= open_manipulator_msgs/SetJointPosition desc= This service is used when requesting movement of the manipulator to the target position in the joint space. } 1{ name= goal_task_space_path_position_only type= open_manipulator_msgs/SetKinematicsPose desc= This service is used when requesting movement of the manipulator to the target position in the task space. } 2{ name= goal_tool_control type= open_manipulator_msgs/SetJointPosition desc= This service is used when requesting goal position of the tool of the manipulator. } 3{ name= set_actuator_state type= open_manipulator_msgs/SetActuatorState desc= This service is used to request the status change of enable or disable of the actuators. } 4{ name= goal_drawing_trajectory type= open_manipulator_msgs/SetDrawingTrajectory desc= This service is used to request manipulator movement to follow a preset target drawing trajectory set at open_manipulator_libs. } } param{ 0{ name= robot_name default= open_manipulator type= string desc= Set robot name as namespace. } 1{ name= end_effector default= gripper type= string desc= Set the end-effector name of the manipulator set in ''open_manipulator'' node of ''open_manipulator_libs'' package. } } } }}}