<<PackageHeader(open_manipulator_msgs)>>
<<TOC(4)>>

''ROS Software Maintainer: [[ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/openmanipulator/|ROBOTIS e-Manual for OpenMANIPULATOR-X]]

== ROS Message Types ==
'''!JointPosition.msg''' <<BR>> 
 This message has (string[]) ''joint_name'', (float64[]) ''position'', (float64) ''max_accelerations_scaling_factor'' and (float64) ''max_velocity_scaling_factor''.

'''!KinematicsPose.msg''' <<BR>>
 This message has (geometry_msgs/Pose) ''pose'', (float64) ''max_accelerations_scaling_factor'', (float64) ''max_velocity_scaling_factor'' and (float64) ''tolerance''.

'''!OpenManipulatorState.msg''' <<BR>>
 This message shows robot state. It has (string) ''open_manipulator_moving_state'' and (string) ''open_manipulator_actuator_state''.


== ROS Service Types ==
'''!GetJointPosition.srv''' <<BR>>
 Set (string) ''planning_group'',<<BR>> and get (!JointPosition) ''joint_position''.

'''!GetKinematicsPose.srv''' <<BR>>
 Set (string) ''planning_group'' and (string) ''end_effector_name'',<<BR>> and get (!KinematicsPose) ''kinematics_pose'' and (Header) ''header''.

'''!SetActuatorState.srv''' <<BR>>
 Set (bool) ''set_actuator_state'',<<BR>> and get (bool) ''is_planned''.

'''!SetDrawingTrajectory.srv''' <<BR>>
 Set (string) ''end_effector_name'', (string) ''drawing_trajectory_name'', (float64[]) ''param'' and (float64) ''path_time'',<<BR>> and get (bool) ''is_planned''.

'''!SetJointPosition.srv''' <<BR>>
 Set (string) ''planning_group'', (!JointPosition) ''joint_position'' and (float64) ''path_time'',<<BR>> and get (bool) ''is_planned''.

'''!SetKinematicsPose.srv''' <<BR>>
 Set (string) ''planning_group'', (string) ''end_effector_name'', (!KinematicsPose) ''kinematics_pose'' and (float64) ''path_time'',<<BR>> and get (bool) ''is_planned''.