Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Understanding provided topics, params and services

Before you start

You can easily get the same output as what this tutorial will describe provided that you have installed ROS and the shadow ethercat hand stack.

The description will detail the topics, parameters and services that can be seen when a simulated hand is started and will be completed by additional/different topics seen when the real hand is started.

SIMULATED hand

Topics

The following list is obtained by typing

rostopic list

/clock
/diagnostics
/diagnostics_agg

##### gazebo contact states for almost all the hand links #####
/ffdistal_bumper/state
/ffknuckle_bumper/state
/ffmiddle_bumper/state
/ffproximal_bumper/state

/lfdistal_bumper/state
/lfknuckle_bumper/state
/lfmetacarpal_bumper/state
/lfmiddle_bumper/state
/lfproximal_bumper/state

/mfdistal_bumper/state
/mfknuckle_bumper/state
/mfmiddle_bumper/state
/mfproximal_bumper/state

/palm_bumper/state

/rfdistal_bumper/state
/rfknuckle_bumper/state
/rfmiddle_bumper/state
/rfproximal_bumper/state

/thbase_bumper/state
/thdistal_bumper/state
/thhub_bumper/state
/thmiddle_bumper/state
/thproximal_bumper/state

#### ARM + HAND Simulated joint states #### (does not exist in real hand / arm )

/gazebo/joint_states   ## joint_states for ARM+HAND ##
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/paused
/gazebo/set_link_state
/gazebo/set_model_state

#### Not published in simulation but is meant for real robot ARM+HAND joint states #### 
#### EtherCAT hand publishes its joint state there ####
/joint_states

#### ??? ####
/mechanism_statistics

#### Merged position joint_states for ARM + HAND (DEPRECATED) ####
/positions/joint_states

/rosout
/rosout_agg

#### ARM (4DOF) position controllers command (in) and state (out) ####
/sa_er_position_controller/command
/sa_er_position_controller/state
/sa_es_position_controller/command
/sa_es_position_controller/state
/sa_sr_position_controller/command
/sa_sr_position_controller/state
/sa_ss_position_controller/command
/sa_ss_position_controller/state

#### HAND position controllers command (in) and state (out) ####
/sh_ffj0_mixed_position_velocity_controller/command
/sh_ffj0_mixed_position_velocity_controller/state
/sh_ffj3_mixed_position_velocity_controller/command
/sh_ffj3_mixed_position_velocity_controller/state
/sh_ffj4_mixed_position_velocity_controller/command
/sh_ffj4_mixed_position_velocity_controller/state
/sh_lfj0_mixed_position_velocity_controller/command
/sh_lfj0_mixed_position_velocity_controller/state
/sh_lfj3_mixed_position_velocity_controller/command
/sh_lfj3_mixed_position_velocity_controller/state
/sh_lfj4_mixed_position_velocity_controller/command
/sh_lfj4_mixed_position_velocity_controller/state
/sh_lfj5_mixed_position_velocity_controller/command
/sh_lfj5_mixed_position_velocity_controller/state
/sh_mfj0_mixed_position_velocity_controller/command
/sh_mfj0_mixed_position_velocity_controller/state
/sh_mfj3_mixed_position_velocity_controller/command
/sh_mfj3_mixed_position_velocity_controller/state
/sh_mfj4_mixed_position_velocity_controller/command
/sh_mfj4_mixed_position_velocity_controller/state
/sh_rfj0_mixed_position_velocity_controller/command
/sh_rfj0_mixed_position_velocity_controller/state
/sh_rfj3_mixed_position_velocity_controller/command
/sh_rfj3_mixed_position_velocity_controller/state
/sh_rfj4_mixed_position_velocity_controller/command
/sh_rfj4_mixed_position_velocity_controller/state
/sh_thj1_mixed_position_velocity_controller/command
/sh_thj1_mixed_position_velocity_controller/state
/sh_thj2_mixed_position_velocity_controller/command
/sh_thj2_mixed_position_velocity_controller/state
/sh_thj3_mixed_position_velocity_controller/command
/sh_thj3_mixed_position_velocity_controller/state
/sh_thj4_mixed_position_velocity_controller/command
/sh_thj4_mixed_position_velocity_controller/state
/sh_thj5_mixed_position_velocity_controller/command
/sh_thj5_mixed_position_velocity_controller/state
/sh_wrj1_mixed_position_velocity_controller/command
/sh_wrj1_mixed_position_velocity_controller/state
/sh_wrj2_mixed_position_velocity_controller/command
/sh_wrj2_mixed_position_velocity_controller/state

#### OLD access to arm (CAN BUS) ####
/sr_arm/config
/sr_arm/contrlr

#### ARM position joint_states (DEPRECATED)####
/sr_arm/position/joint_states

#### ARM sendupdate commands (DEPRECATED) ####
/sr_arm/sendupdate

#### ARM raw data (DEPRECATED) ####
/sr_arm/shadowhand_data

#### ARM target joint_states (DEPRECATED) ####
/sr_arm/target/joint_states

#### OLD access to hand (CAN BUS only) ####
/srh/config
/srh/contrlr

#### HAND position joint_states (DEPRECATED) ####
/srh/position/joint_states

#### HAND sendupdate commands (DEPRECATED) ####
/srh/sendupdate

#### HAND raw data (DEPRECATED) ####
/srh/shadowhand_data

#### HAND target joint_states (DEPRECATED) and may not be filled by EtherCAT compatibility mode ####
/srh/target/joint_states

#### Merged target joint_states for ARM + HAND (DEPRECATED) ####
/targets/joint_states

#### transforms for the whole environment #### (look tf package to use that)
/tf

Parameters

The following list is obtained by typing

rosparam list

#### URDF description of the arm structure (long string containing the xml) ####
/arm_description

#### gazebo stuff ####
/gazebo/auto_disable_bodies
/gazebo/cfm
/gazebo/contact_max_correcting_vel
/gazebo/contact_surface_layer
/gazebo/erp
/gazebo/gravity_x
/gazebo/gravity_y
/gazebo/gravity_z
/gazebo/max_contacts
/gazebo/max_update_rate
/gazebo/sor_pgs_iters
/gazebo/sor_pgs_precon_iters
/gazebo/sor_pgs_rms_error_tol
/gazebo/sor_pgs_w
/gazebo/time_step

#### URDF description of the hand structure (long string containing the xml)  ####
/hand_description

#### sensor prefix ####
/sr_tactile_sensor/display_names
/sr_tactile_sensor/sensor_touch_names

#### URDF description of the arm+hand structure (long string containing the xml) 
/robot_description

#### publish frequency of TF transform publishers ####
/robot_state_publisher_full_pos/publish_frequency
/robot_state_publisher_pos_arm/publish_frequency
/robot_state_publisher_target_arm/publish_frequency

#### TF prefix used  ####
/robot_state_publisher_pos_arm/tf_prefix
/robot_state_publisher_target_arm/tf_prefix
/srh_robot_state_publisher_pos/publish_frequency
/srh_robot_state_publisher_pos/tf_prefix
/srh_robot_state_publisher_target/publish_frequency
/srh_robot_state_publisher_target/tf_prefix

#### not shadow related  ####
/rosdistro
/roslaunch/uris/host_XXXXX_YYYYY
/roslaunch/uris/host_XXXXX_YYYYY
/roslaunch/uris/host_XXXXX_YYYYY
/rosversion
/run_id

#### info about controllers (joint they control, type of control, pid params etc...) ####
/sa_er_position_controller/joint
/sa_er_position_controller/pid/d
/sa_er_position_controller/pid/i
/sa_er_position_controller/pid/i_clamp
/sa_er_position_controller/pid/p
/sa_er_position_controller/type
/sa_es_position_controller/joint
/sa_es_position_controller/pid/d
/sa_es_position_controller/pid/i
/sa_es_position_controller/pid/i_clamp
/sa_es_position_controller/pid/p
/sa_es_position_controller/type
/sa_sr_position_controller/joint
/sa_sr_position_controller/pid/d
/sa_sr_position_controller/pid/i
/sa_sr_position_controller/pid/i_clamp
/sa_sr_position_controller/pid/p
/sa_sr_position_controller/type
/sa_ss_position_controller/joint
/sa_ss_position_controller/pid/d
/sa_ss_position_controller/pid/i
/sa_ss_position_controller/pid/i_clamp
/sa_ss_position_controller/pid/p
/sa_ss_position_controller/type
/sh_ffj0_mixed_position_velocity_controller/joint
/sh_ffj0_mixed_position_velocity_controller/position_pid/d
/sh_ffj0_mixed_position_velocity_controller/position_pid/i
/sh_ffj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj0_mixed_position_velocity_controller/position_pid/p
/sh_ffj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj0_mixed_position_velocity_controller/type
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/p
/sh_ffj3_mixed_position_velocity_controller/joint
/sh_ffj3_mixed_position_velocity_controller/position_pid/d
/sh_ffj3_mixed_position_velocity_controller/position_pid/i
/sh_ffj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj3_mixed_position_velocity_controller/position_pid/p
/sh_ffj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj3_mixed_position_velocity_controller/type
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/p
/sh_ffj4_mixed_position_velocity_controller/joint
/sh_ffj4_mixed_position_velocity_controller/position_pid/d
/sh_ffj4_mixed_position_velocity_controller/position_pid/i
/sh_ffj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj4_mixed_position_velocity_controller/position_pid/p
/sh_ffj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj4_mixed_position_velocity_controller/type
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj0_mixed_position_velocity_controller/joint
/sh_lfj0_mixed_position_velocity_controller/position_pid/d
/sh_lfj0_mixed_position_velocity_controller/position_pid/i
/sh_lfj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj0_mixed_position_velocity_controller/position_pid/p
/sh_lfj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj0_mixed_position_velocity_controller/type
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj3_mixed_position_velocity_controller/joint
/sh_lfj3_mixed_position_velocity_controller/position_pid/d
/sh_lfj3_mixed_position_velocity_controller/position_pid/i
/sh_lfj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj3_mixed_position_velocity_controller/position_pid/p
/sh_lfj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj3_mixed_position_velocity_controller/type
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj4_mixed_position_velocity_controller/joint
/sh_lfj4_mixed_position_velocity_controller/position_pid/d
/sh_lfj4_mixed_position_velocity_controller/position_pid/i
/sh_lfj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj4_mixed_position_velocity_controller/position_pid/p
/sh_lfj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj4_mixed_position_velocity_controller/type
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj5_mixed_position_velocity_controller/joint
/sh_lfj5_mixed_position_velocity_controller/position_pid/d
/sh_lfj5_mixed_position_velocity_controller/position_pid/i
/sh_lfj5_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj5_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj5_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj5_mixed_position_velocity_controller/position_pid/p
/sh_lfj5_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj5_mixed_position_velocity_controller/type
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/p
/sh_mfj0_mixed_position_velocity_controller/joint
/sh_mfj0_mixed_position_velocity_controller/position_pid/d
/sh_mfj0_mixed_position_velocity_controller/position_pid/i
/sh_mfj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_mfj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_mfj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_mfj0_mixed_position_velocity_controller/position_pid/p
/sh_mfj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_mfj0_mixed_position_velocity_controller/type
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/d
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/i
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_mfj0_mixed_position_velocity_controller/velocity_pid/p
/sh_mfj3_mixed_position_velocity_controller/joint
/sh_mfj3_mixed_position_velocity_controller/position_pid/d
/sh_mfj3_mixed_position_velocity_controller/position_pid/i
/sh_mfj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_mfj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_mfj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_mfj3_mixed_position_velocity_controller/position_pid/p
/sh_mfj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_mfj3_mixed_position_velocity_controller/type
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/d
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/i
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_mfj3_mixed_position_velocity_controller/velocity_pid/p
/sh_mfj4_mixed_position_velocity_controller/joint
/sh_mfj4_mixed_position_velocity_controller/position_pid/d
/sh_mfj4_mixed_position_velocity_controller/position_pid/i
/sh_mfj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_mfj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_mfj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_mfj4_mixed_position_velocity_controller/position_pid/p
/sh_mfj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_mfj4_mixed_position_velocity_controller/type
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/d
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/i
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_mfj4_mixed_position_velocity_controller/velocity_pid/p
/sh_rfj0_mixed_position_velocity_controller/joint
/sh_rfj0_mixed_position_velocity_controller/position_pid/d
/sh_rfj0_mixed_position_velocity_controller/position_pid/i
/sh_rfj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_rfj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_rfj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_rfj0_mixed_position_velocity_controller/position_pid/p
/sh_rfj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_rfj0_mixed_position_velocity_controller/type
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/d
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/i
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_rfj0_mixed_position_velocity_controller/velocity_pid/p
/sh_rfj3_mixed_position_velocity_controller/joint
/sh_rfj3_mixed_position_velocity_controller/position_pid/d
/sh_rfj3_mixed_position_velocity_controller/position_pid/i
/sh_rfj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_rfj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_rfj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_rfj3_mixed_position_velocity_controller/position_pid/p
/sh_rfj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_rfj3_mixed_position_velocity_controller/type
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/d
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/i
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_rfj3_mixed_position_velocity_controller/velocity_pid/p
/sh_rfj4_mixed_position_velocity_controller/joint
/sh_rfj4_mixed_position_velocity_controller/position_pid/d
/sh_rfj4_mixed_position_velocity_controller/position_pid/i
/sh_rfj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_rfj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_rfj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_rfj4_mixed_position_velocity_controller/position_pid/p
/sh_rfj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_rfj4_mixed_position_velocity_controller/type
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/d
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/i
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_rfj4_mixed_position_velocity_controller/velocity_pid/p
/sh_thj1_mixed_position_velocity_controller/joint
/sh_thj1_mixed_position_velocity_controller/position_pid/d
/sh_thj1_mixed_position_velocity_controller/position_pid/i
/sh_thj1_mixed_position_velocity_controller/position_pid/i_clamp
/sh_thj1_mixed_position_velocity_controller/position_pid/max_velocity
/sh_thj1_mixed_position_velocity_controller/position_pid/min_velocity
/sh_thj1_mixed_position_velocity_controller/position_pid/p
/sh_thj1_mixed_position_velocity_controller/position_pid/position_deadband
/sh_thj1_mixed_position_velocity_controller/type
/sh_thj1_mixed_position_velocity_controller/velocity_pid/d
/sh_thj1_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_thj1_mixed_position_velocity_controller/velocity_pid/i
/sh_thj1_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_thj1_mixed_position_velocity_controller/velocity_pid/max_force
/sh_thj1_mixed_position_velocity_controller/velocity_pid/p
/sh_thj2_mixed_position_velocity_controller/joint
/sh_thj2_mixed_position_velocity_controller/position_pid/d
/sh_thj2_mixed_position_velocity_controller/position_pid/i
/sh_thj2_mixed_position_velocity_controller/position_pid/i_clamp
/sh_thj2_mixed_position_velocity_controller/position_pid/max_velocity
/sh_thj2_mixed_position_velocity_controller/position_pid/min_velocity
/sh_thj2_mixed_position_velocity_controller/position_pid/p
/sh_thj2_mixed_position_velocity_controller/position_pid/position_deadband
/sh_thj2_mixed_position_velocity_controller/type
/sh_thj2_mixed_position_velocity_controller/velocity_pid/d
/sh_thj2_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_thj2_mixed_position_velocity_controller/velocity_pid/i
/sh_thj2_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_thj2_mixed_position_velocity_controller/velocity_pid/max_force
/sh_thj2_mixed_position_velocity_controller/velocity_pid/p
/sh_thj3_mixed_position_velocity_controller/joint
/sh_thj3_mixed_position_velocity_controller/position_pid/d
/sh_thj3_mixed_position_velocity_controller/position_pid/i
/sh_thj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_thj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_thj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_thj3_mixed_position_velocity_controller/position_pid/p
/sh_thj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_thj3_mixed_position_velocity_controller/type
/sh_thj3_mixed_position_velocity_controller/velocity_pid/d
/sh_thj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_thj3_mixed_position_velocity_controller/velocity_pid/i
/sh_thj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_thj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_thj3_mixed_position_velocity_controller/velocity_pid/p
/sh_thj4_mixed_position_velocity_controller/joint
/sh_thj4_mixed_position_velocity_controller/position_pid/d
/sh_thj4_mixed_position_velocity_controller/position_pid/i
/sh_thj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_thj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_thj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_thj4_mixed_position_velocity_controller/position_pid/p
/sh_thj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_thj4_mixed_position_velocity_controller/type
/sh_thj4_mixed_position_velocity_controller/velocity_pid/d
/sh_thj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_thj4_mixed_position_velocity_controller/velocity_pid/i
/sh_thj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_thj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_thj4_mixed_position_velocity_controller/velocity_pid/p
/sh_thj5_mixed_position_velocity_controller/joint
/sh_thj5_mixed_position_velocity_controller/position_pid/d
/sh_thj5_mixed_position_velocity_controller/position_pid/i
/sh_thj5_mixed_position_velocity_controller/position_pid/i_clamp
/sh_thj5_mixed_position_velocity_controller/position_pid/max_velocity
/sh_thj5_mixed_position_velocity_controller/position_pid/min_velocity
/sh_thj5_mixed_position_velocity_controller/position_pid/p
/sh_thj5_mixed_position_velocity_controller/position_pid/position_deadband
/sh_thj5_mixed_position_velocity_controller/type
/sh_thj5_mixed_position_velocity_controller/velocity_pid/d
/sh_thj5_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_thj5_mixed_position_velocity_controller/velocity_pid/i
/sh_thj5_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_thj5_mixed_position_velocity_controller/velocity_pid/max_force
/sh_thj5_mixed_position_velocity_controller/velocity_pid/p
/sh_wrj1_mixed_position_velocity_controller/joint
/sh_wrj1_mixed_position_velocity_controller/position_pid/d
/sh_wrj1_mixed_position_velocity_controller/position_pid/i
/sh_wrj1_mixed_position_velocity_controller/position_pid/i_clamp
/sh_wrj1_mixed_position_velocity_controller/position_pid/max_velocity
/sh_wrj1_mixed_position_velocity_controller/position_pid/min_velocity
/sh_wrj1_mixed_position_velocity_controller/position_pid/p
/sh_wrj1_mixed_position_velocity_controller/position_pid/position_deadband
/sh_wrj1_mixed_position_velocity_controller/type
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/d
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/i
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/max_force
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/p
/sh_wrj2_mixed_position_velocity_controller/joint
/sh_wrj2_mixed_position_velocity_controller/position_pid/d
/sh_wrj2_mixed_position_velocity_controller/position_pid/i
/sh_wrj2_mixed_position_velocity_controller/position_pid/i_clamp
/sh_wrj2_mixed_position_velocity_controller/position_pid/max_velocity
/sh_wrj2_mixed_position_velocity_controller/position_pid/min_velocity
/sh_wrj2_mixed_position_velocity_controller/position_pid/p
/sh_wrj2_mixed_position_velocity_controller/position_pid/position_deadband
/sh_wrj2_mixed_position_velocity_controller/type
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/d
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/i
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/max_force
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/p

#### GAZEBO prefix for joint_state topic ####
/shadowarm/gazebo_joint_states_prefix
/shadowhand/gazebo_joint_states_prefix

#### publish frequency of different things ####
/shadowarm/publish_frequency
/shadowarm/publish_frequency_diagnostics

/shadowhand/publish_frequency
/shadowhand/publish_frequency_diagnostics

#### prefix (would be sr_arm or srh) ####
/shadowarm/shadowhand_prefix
/shadowhand/shadowhand_prefix

#### dianostic stuff ####
/sr_diagnostic_aggregator/analyzers/sr_arm/path
/sr_diagnostic_aggregator/analyzers/sr_arm/startswith
/sr_diagnostic_aggregator/analyzers/sr_arm/type
/sr_diagnostic_aggregator/analyzers/sr_hand/path
/sr_diagnostic_aggregator/analyzers/sr_hand/startswith
/sr_diagnostic_aggregator/analyzers/sr_hand/type
/sr_diagnostic_aggregator/base_path
/sr_diagnostic_aggregator/pub_rate

#### Simulation time ####
/use_sim_time

Services

The following list is obtained by typing

rosservice list

#### change logging levelof related nodes ####
/fixed_frame_pos_pub_arm/get_loggers
/fixed_frame_pos_pub_arm/set_logger_level
/fixed_frame_target_pub_arm/get_loggers
/fixed_frame_target_pub_arm/set_logger_level
/sr_tactile_sensor/get_loggers
/sr_tactile_sensor/set_logger_level
/link_hand_arm_pos/get_loggers
/link_hand_arm_pos/set_logger_level
/link_hand_arm_target/get_loggers
/link_hand_arm_target/set_logger_level
/robot_state_publisher_full_pos/get_loggers
/robot_state_publisher_full_pos/set_logger_level
/robot_state_publisher_pos_arm/get_loggers
/robot_state_publisher_pos_arm/set_logger_level
/robot_state_publisher_target_arm/get_loggers
/robot_state_publisher_target_arm/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
/shadowarm/get_loggers
/shadowarm/set_logger_level
/shadowhand/get_loggers
/shadowhand/set_logger_level
/sr_diagnostic_aggregator/get_loggers
/sr_diagnostic_aggregator/set_logger_level
/srh_robot_state_publisher_pos/get_loggers
/srh_robot_state_publisher_pos/set_logger_level
/srh_robot_state_publisher_target/get_loggers
/srh_robot_state_publisher_target/set_logger_level

#### GAZEBO stuff ####
/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/delete_model
/gazebo/get_joint_properties
/gazebo/get_link_properties
/gazebo/get_link_state
/gazebo/get_loggers
/gazebo/get_model_properties
/gazebo/get_model_state
/gazebo/get_physics_properties
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/set_joint_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_logger_level
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/set_physics_properties
/gazebo/spawn_gazebo_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics

#### controller manager services (get list of loaded controller, stop/start, load/unload) ####
/pr2_controller_manager/list_controller_types
/pr2_controller_manager/list_controllers
/pr2_controller_manager/load_controller
/pr2_controller_manager/reload_controller_libraries
/pr2_controller_manager/switch_controller
/pr2_controller_manager/unload_controller

#### controller services (change the PID gains) ####
/sh_ffj0_mixed_position_velocity_controller/set_gains
/sh_ffj3_mixed_position_velocity_controller/set_gains
/sh_ffj4_mixed_position_velocity_controller/set_gains
/sh_lfj0_mixed_position_velocity_controller/set_gains
/sh_lfj3_mixed_position_velocity_controller/set_gains
/sh_lfj4_mixed_position_velocity_controller/set_gains
/sh_lfj5_mixed_position_velocity_controller/set_gains
/sh_mfj0_mixed_position_velocity_controller/set_gains
/sh_mfj3_mixed_position_velocity_controller/set_gains
/sh_mfj4_mixed_position_velocity_controller/set_gains
/sh_rfj0_mixed_position_velocity_controller/set_gains
/sh_rfj3_mixed_position_velocity_controller/set_gains
/sh_rfj4_mixed_position_velocity_controller/set_gains
/sh_thj1_mixed_position_velocity_controller/set_gains
/sh_thj2_mixed_position_velocity_controller/set_gains
/sh_thj3_mixed_position_velocity_controller/set_gains
/sh_thj4_mixed_position_velocity_controller/set_gains
/sh_thj5_mixed_position_velocity_controller/set_gains
/sh_wrj1_mixed_position_velocity_controller/set_gains
/sh_wrj2_mixed_position_velocity_controller/set_gains

REAL hand

Topics shown without compatibility mode started

Topics

The following list is obtained by typing

rostopic list

#### ???? ####
/cal_sh_ffj0/calibrated
/cal_sh_ffj3/calibrated
/cal_sh_ffj4/calibrated
/cal_sh_lfj0/calibrated
/cal_sh_lfj3/calibrated
/cal_sh_lfj4/calibrated
/cal_sh_lfj5/calibrated
/cal_sh_mfj0/calibrated
/cal_sh_mfj3/calibrated
/cal_sh_mfj4/calibrated
/cal_sh_rfj0/calibrated
/cal_sh_rfj3/calibrated
/cal_sh_rfj4/calibrated
/cal_sh_thj1/calibrated
/cal_sh_thj2/calibrated
/cal_sh_thj3/calibrated
/cal_sh_thj4/calibrated
/cal_sh_thj5/calibrated
/cal_sh_wrj1/calibrated
/cal_sh_wrj2/calibrated
/calibrated

#### RAW incoming ethercat bus data ####
/debug_etherCAT_data

#### Diagnostic and Aggregator topics ####
/diagnostics
/diagnostics_agg


#### HAND real joint states for virtual joints zero (J1+J2) and for standard joints ####
/joint_0s/joint_states
/joint_states

#### ???? ####
/mechanism_statistics
/pr2_etherCAT/motors_halted


/rosout
/rosout_agg

#### HAND position controllers command (in) and state (out) ####
/sh_ffj0_mixed_position_velocity_controller/command
/sh_ffj0_mixed_position_velocity_controller/state
/sh_ffj3_mixed_position_velocity_controller/command
/sh_ffj3_mixed_position_velocity_controller/state
/sh_ffj4_mixed_position_velocity_controller/command
/sh_ffj4_mixed_position_velocity_controller/state
/sh_lfj0_mixed_position_velocity_controller/command
/sh_lfj0_mixed_position_velocity_controller/state
/sh_lfj3_mixed_position_velocity_controller/command
/sh_lfj3_mixed_position_velocity_controller/state
/sh_lfj4_mixed_position_velocity_controller/command
/sh_lfj4_mixed_position_velocity_controller/state
/sh_lfj5_mixed_position_velocity_controller/command
/sh_lfj5_mixed_position_velocity_controller/state
/sh_mfj0_mixed_position_velocity_controller/command
/sh_mfj0_mixed_position_velocity_controller/state
/sh_mfj3_mixed_position_velocity_controller/command
/sh_mfj3_mixed_position_velocity_controller/state
/sh_mfj4_mixed_position_velocity_controller/command
/sh_mfj4_mixed_position_velocity_controller/state
/sh_rfj0_mixed_position_velocity_controller/command
/sh_rfj0_mixed_position_velocity_controller/state
/sh_rfj3_mixed_position_velocity_controller/command
/sh_rfj3_mixed_position_velocity_controller/state
/sh_rfj4_mixed_position_velocity_controller/command
/sh_rfj4_mixed_position_velocity_controller/state
/sh_thj1_mixed_position_velocity_controller/command
/sh_thj1_mixed_position_velocity_controller/state
/sh_thj2_mixed_position_velocity_controller/command
/sh_thj2_mixed_position_velocity_controller/state
/sh_thj3_mixed_position_velocity_controller/command
/sh_thj3_mixed_position_velocity_controller/state
/sh_thj4_mixed_position_velocity_controller/command
/sh_thj4_mixed_position_velocity_controller/state
/sh_thj5_mixed_position_velocity_controller/command
/sh_thj5_mixed_position_velocity_controller/state
/sh_wrj1_mixed_position_velocity_controller/command
/sh_wrj1_mixed_position_velocity_controller/state
/sh_wrj2_mixed_position_velocity_controller/command
/sh_wrj2_mixed_position_velocity_controller/state

#### debug topics #### (see sr_robot_lib)
/srh/debug_0
/srh/debug_1
/srh/debug_10
/srh/debug_11
/srh/debug_12
/srh/debug_13
/srh/debug_14
/srh/debug_15
/srh/debug_16
/srh/debug_17
/srh/debug_18
/srh/debug_19
/srh/debug_2
/srh/debug_3
/srh/debug_4
/srh/debug_5
/srh/debug_6
/srh/debug_7
/srh/debug_8
/srh/debug_9

#### Shadow PST sensors topic ####
/tactile

#### transforms for the whole environment #### (look tf package to use that)
/tf

Parameters

The following list is obtained by typing

rosparam list

#### calibration settings ???? ####
/cal_sh_ffj0/actuator
/cal_sh_ffj0/joint
/cal_sh_ffj0/transmission
/cal_sh_ffj0/type
/cal_sh_ffj3/actuator
/cal_sh_ffj3/joint
/cal_sh_ffj3/transmission
/cal_sh_ffj3/type
/cal_sh_ffj4/actuator
/cal_sh_ffj4/joint
/cal_sh_ffj4/transmission
/cal_sh_ffj4/type
/cal_sh_lfj0/actuator
/cal_sh_lfj0/joint
/cal_sh_lfj0/transmission
/cal_sh_lfj0/type
/cal_sh_lfj3/actuator
/cal_sh_lfj3/joint
/cal_sh_lfj3/transmission
/cal_sh_lfj3/type
/cal_sh_lfj4/actuator
/cal_sh_lfj4/joint
/cal_sh_lfj4/transmission
/cal_sh_lfj4/type
/cal_sh_lfj5/actuator
/cal_sh_lfj5/joint
/cal_sh_lfj5/transmission
/cal_sh_lfj5/type
/cal_sh_mfj0/actuator
/cal_sh_mfj0/joint
/cal_sh_mfj0/transmission
/cal_sh_mfj0/type
/cal_sh_mfj3/actuator
/cal_sh_mfj3/joint
/cal_sh_mfj3/transmission
/cal_sh_mfj3/type
/cal_sh_mfj4/actuator
/cal_sh_mfj4/joint
/cal_sh_mfj4/transmission
/cal_sh_mfj4/type
/cal_sh_rfj0/actuator
/cal_sh_rfj0/joint
/cal_sh_rfj0/transmission
/cal_sh_rfj0/type
/cal_sh_rfj3/actuator
/cal_sh_rfj3/joint
/cal_sh_rfj3/transmission
/cal_sh_rfj3/type
/cal_sh_rfj4/actuator
/cal_sh_rfj4/joint
/cal_sh_rfj4/transmission
/cal_sh_rfj4/type
/cal_sh_thj1/actuator
/cal_sh_thj1/joint
/cal_sh_thj1/transmission
/cal_sh_thj1/type
/cal_sh_thj2/actuator
/cal_sh_thj2/joint
/cal_sh_thj2/transmission
/cal_sh_thj2/type
/cal_sh_thj3/actuator
/cal_sh_thj3/joint
/cal_sh_thj3/transmission
/cal_sh_thj3/type
/cal_sh_thj4/actuator
/cal_sh_thj4/joint
/cal_sh_thj4/transmission
/cal_sh_thj4/type
/cal_sh_thj5/actuator
/cal_sh_thj5/joint
/cal_sh_thj5/transmission
/cal_sh_thj5/type
/cal_sh_wrj1/actuator
/cal_sh_wrj1/joint
/cal_sh_wrj1/transmission
/cal_sh_wrj1/type
/cal_sh_wrj2/actuator
/cal_sh_wrj2/joint
/cal_sh_wrj2/transmission
/cal_sh_wrj2/type

#### diagnostic aggregators settings to analyze the data ####
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/type
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/num_items
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/path
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/regex
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/timeout
/diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/type
/diagnostic_aggregator/analyzers/shadow_hand/path
/diagnostic_aggregator/analyzers/shadow_hand/type

#### host settings ####
/joint_to_motor_mapping
/joint_to_sensor_mapping

#### hand internal parameters ####
/motor_data_update_rate/can_error_counters
/motor_data_update_rate/can_num_received
/motor_data_update_rate/can_num_transmitted
/motor_data_update_rate/current
/motor_data_update_rate/dterm
/motor_data_update_rate/flags
/motor_data_update_rate/iterm
/motor_data_update_rate/pterm
/motor_data_update_rate/pwm
/motor_data_update_rate/sgl
/motor_data_update_rate/sgr
/motor_data_update_rate/slow_data
/motor_data_update_rate/temperature
/motor_data_update_rate/voltage

#### Tactile sensors parameters ####
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_PDC
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_TAC
/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_TDC
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_MANUFACTURER
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PCB_VERSION
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SERIAL_NUMBER
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SOFTWARE_VERSION
/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_WHICH_SENSORS
/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_DAC_VALUE
/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING
/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE

#### IK parameters ####
/ff_kinematics/epsilon
/ff_kinematics/maxIterations
/ff_kinematics/root_name
/ff_kinematics/tip_name
/ff_kinematics/urdf_description
/lf_kinematics/epsilon
/lf_kinematics/maxIterations
/lf_kinematics/root_name
/lf_kinematics/tip_name
/lf_kinematics/urdf_description
/mf_kinematics/epsilon
/mf_kinematics/maxIterations
/mf_kinematics/root_name
/mf_kinematics/tip_name
/mf_kinematics/urdf_description
/rf_kinematics/epsilon
/rf_kinematics/maxIterations
/rf_kinematics/root_name
/rf_kinematics/tip_name
/rf_kinematics/urdf_description

#### info about HAND controllers (pid params etc...) ####
/ffj0/pid/d
/ffj0/pid/deadband
/ffj0/pid/f
/ffj0/pid/i
/ffj0/pid/imax
/ffj0/pid/max_pwm
/ffj0/pid/p
/ffj0/pid/sg_left
/ffj0/pid/sg_right
/ffj0/pid/sgleftref
/ffj0/pid/sgrightref
/ffj0/pid/sign
/ffj3/pid/d
/ffj3/pid/deadband
/ffj3/pid/f
/ffj3/pid/i
/ffj3/pid/imax
/ffj3/pid/max_pwm
/ffj3/pid/p
/ffj3/pid/sg_left
/ffj3/pid/sg_right
/ffj3/pid/sgleftref
/ffj3/pid/sgrightref
/ffj3/pid/sign
/ffj4/pid/d
/ffj4/pid/deadband
/ffj4/pid/f
/ffj4/pid/i
/ffj4/pid/imax
/ffj4/pid/max_pwm
/ffj4/pid/p
/ffj4/pid/sg_left
/ffj4/pid/sg_right
/ffj4/pid/sgleftref
/ffj4/pid/sgrightref
/ffj4/pid/sign
/lfj0/pid/d
/lfj0/pid/deadband
/lfj0/pid/f
/lfj0/pid/i
/lfj0/pid/imax
/lfj0/pid/max_pwm
/lfj0/pid/p
/lfj0/pid/sg_left
/lfj0/pid/sg_right
/lfj0/pid/sgleftref
/lfj0/pid/sgrightref
/lfj0/pid/sign
/lfj3/pid/d
/lfj3/pid/deadband
/lfj3/pid/f
/lfj3/pid/i
/lfj3/pid/imax
/lfj3/pid/max_pwm
/lfj3/pid/p
/lfj3/pid/sg_left
/lfj3/pid/sg_right
/lfj3/pid/sgleftref
/lfj3/pid/sgrightref
/lfj3/pid/sign
/lfj4/pid/d
/lfj4/pid/deadband
/lfj4/pid/f
/lfj4/pid/i
/lfj4/pid/imax
/lfj4/pid/max_pwm
/lfj4/pid/p
/lfj4/pid/sg_left
/lfj4/pid/sg_right
/lfj4/pid/sgleftref
/lfj4/pid/sgrightref
/lfj4/pid/sign
/lfj5/pid/d
/lfj5/pid/deadband
/lfj5/pid/f
/lfj5/pid/i
/lfj5/pid/imax
/lfj5/pid/max_pwm
/lfj5/pid/p
/lfj5/pid/sg_left
/lfj5/pid/sg_right
/lfj5/pid/sgleftref
/lfj5/pid/sgrightref
/lfj5/pid/sign
/mfj0/pid/d
/mfj0/pid/deadband
/mfj0/pid/f
/mfj0/pid/i
/mfj0/pid/imax
/mfj0/pid/max_pwm
/mfj0/pid/p
/mfj0/pid/sg_left
/mfj0/pid/sg_right
/mfj0/pid/sgleftref
/mfj0/pid/sgrightref
/mfj0/pid/sign
/mfj3/pid/d
/mfj3/pid/deadband
/mfj3/pid/f
/mfj3/pid/i
/mfj3/pid/imax
/mfj3/pid/max_pwm
/mfj3/pid/p
/mfj3/pid/sg_left
/mfj3/pid/sg_right
/mfj3/pid/sgleftref
/mfj3/pid/sgrightref
/mfj3/pid/sign
/mfj4/pid/d
/mfj4/pid/deadband
/mfj4/pid/f
/mfj4/pid/i
/mfj4/pid/imax
/mfj4/pid/max_pwm
/mfj4/pid/p
/mfj4/pid/sg_left
/mfj4/pid/sg_right
/mfj4/pid/sgleftref
/mfj4/pid/sgrightref
/mfj4/pid/sign
/rfj0/pid/d
/rfj0/pid/deadband
/rfj0/pid/f
/rfj0/pid/i
/rfj0/pid/imax
/rfj0/pid/max_pwm
/rfj0/pid/p
/rfj0/pid/sg_left
/rfj0/pid/sg_right
/rfj0/pid/sgleftref
/rfj0/pid/sgrightref
/rfj0/pid/sign
/rfj3/pid/d
/rfj3/pid/deadband
/rfj3/pid/f
/rfj3/pid/i
/rfj3/pid/imax
/rfj3/pid/max_pwm
/rfj3/pid/p
/rfj3/pid/sg_left
/rfj3/pid/sg_right
/rfj3/pid/sgleftref
/rfj3/pid/sgrightref
/rfj3/pid/sign
/rfj4/pid/d
/rfj4/pid/deadband
/rfj4/pid/f
/rfj4/pid/i
/rfj4/pid/imax
/rfj4/pid/max_pwm
/rfj4/pid/p
/rfj4/pid/sg_left
/rfj4/pid/sg_right
/rfj4/pid/sgleftref
/rfj4/pid/sgrightref
/rfj4/pid/sign
/thj1/pid/d
/thj1/pid/deadband
/thj1/pid/f
/thj1/pid/i
/thj1/pid/imax
/thj1/pid/max_pwm
/thj1/pid/p
/thj1/pid/sg_left
/thj1/pid/sg_right
/thj1/pid/sgleftref
/thj1/pid/sgrightref
/thj1/pid/sign
/thj2/pid/d
/thj2/pid/deadband
/thj2/pid/f
/thj2/pid/i
/thj2/pid/imax
/thj2/pid/max_pwm
/thj2/pid/p
/thj2/pid/sg_left
/thj2/pid/sg_right
/thj2/pid/sgleftref
/thj2/pid/sgrightref
/thj2/pid/sign
/thj3/pid/d
/thj3/pid/deadband
/thj3/pid/f
/thj3/pid/i
/thj3/pid/imax
/thj3/pid/max_pwm
/thj3/pid/p
/thj3/pid/sg_left
/thj3/pid/sg_right
/thj3/pid/sgleftref
/thj3/pid/sgrightref
/thj3/pid/sign
/thj4/pid/d
/thj4/pid/deadband
/thj4/pid/f
/thj4/pid/i
/thj4/pid/imax
/thj4/pid/max_pwm
/thj4/pid/p
/thj4/pid/sg_left
/thj4/pid/sg_right
/thj4/pid/sgleftref
/thj4/pid/sgrightref
/thj4/pid/sign
/thj5/pid/d
/thj5/pid/deadband
/thj5/pid/f
/thj5/pid/i
/thj5/pid/imax
/thj5/pid/max_pwm
/thj5/pid/p
/thj5/pid/sg_left
/thj5/pid/sg_right
/thj5/pid/sgleftref
/thj5/pid/sgrightref
/thj5/pid/sign
/wrj1/pid/d
/wrj1/pid/deadband
/wrj1/pid/f
/wrj1/pid/i
/wrj1/pid/imax
/wrj1/pid/max_pwm
/wrj1/pid/p
/wrj1/pid/sg_left
/wrj1/pid/sg_right
/wrj1/pid/sgleftref
/wrj1/pid/sgrightref
/wrj1/pid/sign
/wrj2/pid/d
/wrj2/pid/deadband
/wrj2/pid/f
/wrj2/pid/i
/wrj2/pid/imax
/wrj2/pid/max_pwm
/wrj2/pid/p
/wrj2/pid/sg_left
/wrj2/pid/sg_right
/wrj2/pid/sgleftref
/wrj2/pid/sgrightref
/wrj2/pid/sign

#### URDF description of the hand structure (long string containing the xml) ####
/robot_description

#### not shadow related ####
/rosdistro
/roslaunch/uris/host_hand__42507
/roslaunch/uris/host_hand__48651
/rosversion
/run_id

#### info about HOST controllers (joint they control, type of control, pid params etc...) ####
/sh_ffj0_effort_controller/friction_deadband
/sh_ffj0_effort_controller/joint
/sh_ffj0_effort_controller/max_force
/sh_ffj0_effort_controller/type
/sh_ffj0_mixed_position_velocity_controller/joint
/sh_ffj0_mixed_position_velocity_controller/position_pid/d
/sh_ffj0_mixed_position_velocity_controller/position_pid/i
/sh_ffj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj0_mixed_position_velocity_controller/position_pid/p
/sh_ffj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj0_mixed_position_velocity_controller/type
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj0_mixed_position_velocity_controller/velocity_pid/p
/sh_ffj0_position_controller/joint
/sh_ffj0_position_controller/pid/d
/sh_ffj0_position_controller/pid/deadband
/sh_ffj0_position_controller/pid/friction_deadband
/sh_ffj0_position_controller/pid/i
/sh_ffj0_position_controller/pid/i_clamp
/sh_ffj0_position_controller/pid/max_force
/sh_ffj0_position_controller/pid/p
/sh_ffj0_position_controller/pid/position_deadband
/sh_ffj0_position_controller/type
/sh_ffj0_velocity_controller/joint
/sh_ffj0_velocity_controller/pid/d
/sh_ffj0_velocity_controller/pid/friction_deadband
/sh_ffj0_velocity_controller/pid/i
/sh_ffj0_velocity_controller/pid/i_clamp
/sh_ffj0_velocity_controller/pid/max_force
/sh_ffj0_velocity_controller/pid/p
/sh_ffj0_velocity_controller/pid/velocity_deadband
/sh_ffj0_velocity_controller/type
/sh_ffj3_effort_controller/friction_deadband
/sh_ffj3_effort_controller/joint
/sh_ffj3_effort_controller/max_force
/sh_ffj3_effort_controller/type
/sh_ffj3_mixed_position_velocity_controller/joint
/sh_ffj3_mixed_position_velocity_controller/position_pid/d
/sh_ffj3_mixed_position_velocity_controller/position_pid/i
/sh_ffj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj3_mixed_position_velocity_controller/position_pid/p
/sh_ffj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj3_mixed_position_velocity_controller/type
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj3_mixed_position_velocity_controller/velocity_pid/p
/sh_ffj3_position_controller/joint
/sh_ffj3_position_controller/pid/d
/sh_ffj3_position_controller/pid/deadband
/sh_ffj3_position_controller/pid/friction_deadband
/sh_ffj3_position_controller/pid/i
/sh_ffj3_position_controller/pid/i_clamp
/sh_ffj3_position_controller/pid/max_force
/sh_ffj3_position_controller/pid/p
/sh_ffj3_position_controller/pid/position_deadband
/sh_ffj3_position_controller/type
/sh_ffj3_velocity_controller/joint
/sh_ffj3_velocity_controller/pid/d
/sh_ffj3_velocity_controller/pid/friction_deadband
/sh_ffj3_velocity_controller/pid/i
/sh_ffj3_velocity_controller/pid/i_clamp
/sh_ffj3_velocity_controller/pid/max_force
/sh_ffj3_velocity_controller/pid/p
/sh_ffj3_velocity_controller/pid/velocity_deadband
/sh_ffj3_velocity_controller/type
/sh_ffj4_effort_controller/friction_deadband
/sh_ffj4_effort_controller/joint
/sh_ffj4_effort_controller/max_force
/sh_ffj4_effort_controller/type
/sh_ffj4_mixed_position_velocity_controller/joint
/sh_ffj4_mixed_position_velocity_controller/position_pid/d
/sh_ffj4_mixed_position_velocity_controller/position_pid/i
/sh_ffj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_ffj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_ffj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_ffj4_mixed_position_velocity_controller/position_pid/p
/sh_ffj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_ffj4_mixed_position_velocity_controller/type
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/d
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/i
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_ffj4_mixed_position_velocity_controller/velocity_pid/p
/sh_ffj4_position_controller/joint
/sh_ffj4_position_controller/pid/d
/sh_ffj4_position_controller/pid/deadband
/sh_ffj4_position_controller/pid/friction_deadband
/sh_ffj4_position_controller/pid/i
/sh_ffj4_position_controller/pid/i_clamp
/sh_ffj4_position_controller/pid/max_force
/sh_ffj4_position_controller/pid/p
/sh_ffj4_position_controller/pid/position_deadband
/sh_ffj4_position_controller/type
/sh_ffj4_velocity_controller/joint
/sh_ffj4_velocity_controller/pid/d
/sh_ffj4_velocity_controller/pid/friction_deadband
/sh_ffj4_velocity_controller/pid/i
/sh_ffj4_velocity_controller/pid/i_clamp
/sh_ffj4_velocity_controller/pid/max_force
/sh_ffj4_velocity_controller/pid/p
/sh_ffj4_velocity_controller/pid/velocity_deadband
/sh_ffj4_velocity_controller/type
/sh_lfj0_effort_controller/friction_deadband
/sh_lfj0_effort_controller/joint
/sh_lfj0_effort_controller/max_force
/sh_lfj0_effort_controller/type
/sh_lfj0_mixed_position_velocity_controller/joint
/sh_lfj0_mixed_position_velocity_controller/position_pid/d
/sh_lfj0_mixed_position_velocity_controller/position_pid/i
/sh_lfj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj0_mixed_position_velocity_controller/position_pid/p
/sh_lfj0_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj0_mixed_position_velocity_controller/type
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj0_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj0_position_controller/joint
/sh_lfj0_position_controller/pid/d
/sh_lfj0_position_controller/pid/friction_deadband
/sh_lfj0_position_controller/pid/i
/sh_lfj0_position_controller/pid/i_clamp
/sh_lfj0_position_controller/pid/max_force
/sh_lfj0_position_controller/pid/p
/sh_lfj0_position_controller/pid/position_deadband
/sh_lfj0_position_controller/type
/sh_lfj0_velocity_controller/joint
/sh_lfj0_velocity_controller/pid/d
/sh_lfj0_velocity_controller/pid/friction_deadband
/sh_lfj0_velocity_controller/pid/i
/sh_lfj0_velocity_controller/pid/i_clamp
/sh_lfj0_velocity_controller/pid/max_force
/sh_lfj0_velocity_controller/pid/p
/sh_lfj0_velocity_controller/pid/velocity_deadband
/sh_lfj0_velocity_controller/type
/sh_lfj3_effort_controller/friction_deadband
/sh_lfj3_effort_controller/joint
/sh_lfj3_effort_controller/max_force
/sh_lfj3_effort_controller/type
/sh_lfj3_mixed_position_velocity_controller/joint
/sh_lfj3_mixed_position_velocity_controller/position_pid/d
/sh_lfj3_mixed_position_velocity_controller/position_pid/i
/sh_lfj3_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj3_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj3_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj3_mixed_position_velocity_controller/position_pid/p
/sh_lfj3_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj3_mixed_position_velocity_controller/type
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj3_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj3_position_controller/joint
/sh_lfj3_position_controller/pid/d
/sh_lfj3_position_controller/pid/deadband
/sh_lfj3_position_controller/pid/friction_deadband
/sh_lfj3_position_controller/pid/i
/sh_lfj3_position_controller/pid/i_clamp
/sh_lfj3_position_controller/pid/max_force
/sh_lfj3_position_controller/pid/p
/sh_lfj3_position_controller/pid/position_deadband
/sh_lfj3_position_controller/type
/sh_lfj3_velocity_controller/joint
/sh_lfj3_velocity_controller/pid/d
/sh_lfj3_velocity_controller/pid/friction_deadband
/sh_lfj3_velocity_controller/pid/i
/sh_lfj3_velocity_controller/pid/i_clamp
/sh_lfj3_velocity_controller/pid/max_force
/sh_lfj3_velocity_controller/pid/p
/sh_lfj3_velocity_controller/pid/velocity_deadband
/sh_lfj3_velocity_controller/type
/sh_lfj4_effort_controller/friction_deadband
/sh_lfj4_effort_controller/joint
/sh_lfj4_effort_controller/max_force
/sh_lfj4_effort_controller/type
/sh_lfj4_mixed_position_velocity_controller/joint
/sh_lfj4_mixed_position_velocity_controller/position_pid/d
/sh_lfj4_mixed_position_velocity_controller/position_pid/i
/sh_lfj4_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj4_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj4_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj4_mixed_position_velocity_controller/position_pid/p
/sh_lfj4_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj4_mixed_position_velocity_controller/type
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj4_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj4_position_controller/joint
/sh_lfj4_position_controller/pid/d
/sh_lfj4_position_controller/pid/deadband
/sh_lfj4_position_controller/pid/friction_deadband
/sh_lfj4_position_controller/pid/i
/sh_lfj4_position_controller/pid/i_clamp
/sh_lfj4_position_controller/pid/max_force
/sh_lfj4_position_controller/pid/p
/sh_lfj4_position_controller/type
/sh_lfj4_velocity_controller/joint
/sh_lfj4_velocity_controller/pid/d
/sh_lfj4_velocity_controller/pid/friction_deadband
/sh_lfj4_velocity_controller/pid/i
/sh_lfj4_velocity_controller/pid/i_clamp
/sh_lfj4_velocity_controller/pid/max_force
/sh_lfj4_velocity_controller/pid/p
/sh_lfj4_velocity_controller/pid/velocity_deadband
/sh_lfj4_velocity_controller/type
/sh_lfj5_effort_controller/friction_deadband
/sh_lfj5_effort_controller/joint
/sh_lfj5_effort_controller/max_force
/sh_lfj5_effort_controller/type
/sh_lfj5_mixed_position_velocity_controller/joint
/sh_lfj5_mixed_position_velocity_controller/position_pid/d
/sh_lfj5_mixed_position_velocity_controller/position_pid/i
/sh_lfj5_mixed_position_velocity_controller/position_pid/i_clamp
/sh_lfj5_mixed_position_velocity_controller/position_pid/max_velocity
/sh_lfj5_mixed_position_velocity_controller/position_pid/min_velocity
/sh_lfj5_mixed_position_velocity_controller/position_pid/p
/sh_lfj5_mixed_position_velocity_controller/position_pid/position_deadband
/sh_lfj5_mixed_position_velocity_controller/type
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/d
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/i
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/max_force
/sh_lfj5_mixed_position_velocity_controller/velocity_pid/p
/sh_lfj5_position_controller/joint
/sh_lfj5_position_controller/pid/d
/sh_lfj5_position_controller/pid/deadband
/sh_lfj5_position_controller/pid/friction_deadband
/sh_lfj5_position_controller/pid/i
/sh_lfj5_position_controller/pid/i_clamp
/sh_lfj5_position_controller/pid/max_force
/sh_lfj5_position_controller/pid/p
/sh_lfj5_position_controller/pid/position_deadband
/sh_lfj5_position_controller/type
/sh_lfj5_velocity_controller/joint
/sh_lfj5_velocity_controller/pid/d
/sh_lfj5_velocity_controller/pid/friction_deadband
/sh_lfj5_velocity_controller/pid/i
/sh_lfj5_velocity_controller/pid/i_clamp
/sh_lfj5_velocity_controller/pid/max_force
/sh_lfj5_velocity_controller/pid/p
/sh_lfj5_velocity_controller/pid/velocity_deadband
/sh_lfj5_velocity_controller/type
/sh_mfj0_effort_controller/friction_deadband
/sh_mfj0_effort_controller/joint
/sh_mfj0_effort_controller/max_force
/sh_mfj0_effort_controller/type
/sh_mfj0_mixed_position_velocity_controller/joint
/sh_mfj0_mixed_position_velocity_controller/position_pid/d
/sh_mfj0_mixed_position_velocity_controller/position_pid/i
/sh_mfj0_mixed_position_velocity_controller/position_pid/i_clamp
/sh_mfj0_mixed_position_velocity_controller/position_pid/max_velocity
/sh_mfj0_mixed_position_velocity_controller/position_pid/min_velocity
/sh_mfj0_mixed_position_velocity_controller/position_pid/p
/sh_mfj0_mixed_position_velocity_controller/position_pid/position_deadband
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/sh_wrj1_mixed_position_velocity_controller/velocity_pid/max_force
/sh_wrj1_mixed_position_velocity_controller/velocity_pid/p
/sh_wrj1_position_controller/joint
/sh_wrj1_position_controller/pid/d
/sh_wrj1_position_controller/pid/deadband
/sh_wrj1_position_controller/pid/friction_deadband
/sh_wrj1_position_controller/pid/i
/sh_wrj1_position_controller/pid/i_clamp
/sh_wrj1_position_controller/pid/max_force
/sh_wrj1_position_controller/pid/p
/sh_wrj1_position_controller/pid/position_deadband
/sh_wrj1_position_controller/type
/sh_wrj1_velocity_controller/joint
/sh_wrj1_velocity_controller/pid/d
/sh_wrj1_velocity_controller/pid/friction_deadband
/sh_wrj1_velocity_controller/pid/i
/sh_wrj1_velocity_controller/pid/i_clamp
/sh_wrj1_velocity_controller/pid/max_force
/sh_wrj1_velocity_controller/pid/p
/sh_wrj1_velocity_controller/pid/velocity_deadband
/sh_wrj1_velocity_controller/type
/sh_wrj2_effort_controller/friction_deadband
/sh_wrj2_effort_controller/joint
/sh_wrj2_effort_controller/max_force
/sh_wrj2_effort_controller/type
/sh_wrj2_mixed_position_velocity_controller/joint
/sh_wrj2_mixed_position_velocity_controller/position_pid/d
/sh_wrj2_mixed_position_velocity_controller/position_pid/i
/sh_wrj2_mixed_position_velocity_controller/position_pid/i_clamp
/sh_wrj2_mixed_position_velocity_controller/position_pid/max_velocity
/sh_wrj2_mixed_position_velocity_controller/position_pid/min_velocity
/sh_wrj2_mixed_position_velocity_controller/position_pid/p
/sh_wrj2_mixed_position_velocity_controller/position_pid/position_deadband
/sh_wrj2_mixed_position_velocity_controller/type
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/d
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/friction_deadband
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/i
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/i_clamp
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/max_force
/sh_wrj2_mixed_position_velocity_controller/velocity_pid/p
/sh_wrj2_position_controller/joint
/sh_wrj2_position_controller/pid/d
/sh_wrj2_position_controller/pid/deadband
/sh_wrj2_position_controller/pid/friction_deadband
/sh_wrj2_position_controller/pid/i
/sh_wrj2_position_controller/pid/i_clamp
/sh_wrj2_position_controller/pid/max_force
/sh_wrj2_position_controller/pid/p
/sh_wrj2_position_controller/pid/position_deadband
/sh_wrj2_position_controller/type
/sh_wrj2_velocity_controller/joint
/sh_wrj2_velocity_controller/pid/d
/sh_wrj2_velocity_controller/pid/friction_deadband
/sh_wrj2_velocity_controller/pid/i
/sh_wrj2_velocity_controller/pid/i_clamp
/sh_wrj2_velocity_controller/pid/max_force
/sh_wrj2_velocity_controller/pid/p
/sh_wrj2_velocity_controller/pid/velocity_deadband
/sh_wrj2_velocity_controller/type

/sr_calibrations
/sr_friction_map


/srh/srh_ffj0/current/gain
/srh/srh_ffj0/current/offset
/srh/srh_ffj0/force_1/gain
/srh/srh_ffj0/force_1/offset
/srh/srh_ffj0/force_2/gain
/srh/srh_ffj0/force_2/offset
/srh/srh_ffj0/force_3/gain
/srh/srh_ffj0/force_3/offset
/srh/srh_ffj0/min_effort
/srh/srh_ffj0/position/gain
/srh/srh_ffj0/position/offset
/srh/srh_ffj0/temperature/gain
/srh/srh_ffj0/temperature/offset
/srh/srh_ffj0/voltage/gain
/srh/srh_ffj0/voltage/offset
/srh/srh_ffj3/current/gain
/srh/srh_ffj3/current/offset
/srh/srh_ffj3/force_1/gain
/srh/srh_ffj3/force_1/offset
/srh/srh_ffj3/force_2/gain
/srh/srh_ffj3/force_2/offset
/srh/srh_ffj3/force_3/gain
/srh/srh_ffj3/force_3/offset
/srh/srh_ffj3/min_effort
/srh/srh_ffj3/position/gain
/srh/srh_ffj3/position/offset
/srh/srh_ffj3/temperature/gain
/srh/srh_ffj3/temperature/offset
/srh/srh_ffj3/voltage/gain
/srh/srh_ffj3/voltage/offset
/srh/srh_ffj4/current/gain
/srh/srh_ffj4/current/offset
/srh/srh_ffj4/force_1/gain
/srh/srh_ffj4/force_1/offset
/srh/srh_ffj4/force_2/gain
/srh/srh_ffj4/force_2/offset
/srh/srh_ffj4/force_3/gain
/srh/srh_ffj4/force_3/offset
/srh/srh_ffj4/min_effort
/srh/srh_ffj4/position/gain
/srh/srh_ffj4/position/offset
/srh/srh_ffj4/temperature/gain
/srh/srh_ffj4/temperature/offset
/srh/srh_ffj4/voltage/gain
/srh/srh_ffj4/voltage/offset
/srh/srh_lfj0/current/gain
/srh/srh_lfj0/current/offset
/srh/srh_lfj0/force_1/gain
/srh/srh_lfj0/force_1/offset
/srh/srh_lfj0/force_2/gain
/srh/srh_lfj0/force_2/offset
/srh/srh_lfj0/force_3/gain
/srh/srh_lfj0/force_3/offset
/srh/srh_lfj0/min_effort
/srh/srh_lfj0/position/gain
/srh/srh_lfj0/position/offset
/srh/srh_lfj0/temperature/gain
/srh/srh_lfj0/temperature/offset
/srh/srh_lfj0/voltage/gain
/srh/srh_lfj0/voltage/offset
/srh/srh_lfj3/current/gain
/srh/srh_lfj3/current/offset
/srh/srh_lfj3/force_1/gain
/srh/srh_lfj3/force_1/offset
/srh/srh_lfj3/force_2/gain
/srh/srh_lfj3/force_2/offset
/srh/srh_lfj3/force_3/gain
/srh/srh_lfj3/force_3/offset
/srh/srh_lfj3/min_effort
/srh/srh_lfj3/position/gain
/srh/srh_lfj3/position/offset
/srh/srh_lfj3/temperature/gain
/srh/srh_lfj3/temperature/offset
/srh/srh_lfj3/voltage/gain
/srh/srh_lfj3/voltage/offset
/srh/srh_lfj4/current/gain
/srh/srh_lfj4/current/offset
/srh/srh_lfj4/force_1/gain
/srh/srh_lfj4/force_1/offset
/srh/srh_lfj4/force_2/gain
/srh/srh_lfj4/force_2/offset
/srh/srh_lfj4/force_3/gain
/srh/srh_lfj4/force_3/offset
/srh/srh_lfj4/min_effort
/srh/srh_lfj4/position/gain
/srh/srh_lfj4/position/offset
/srh/srh_lfj4/temperature/gain
/srh/srh_lfj4/temperature/offset
/srh/srh_lfj4/voltage/gain
/srh/srh_lfj4/voltage/offset
/srh/srh_lfj5/current/gain
/srh/srh_lfj5/current/offset
/srh/srh_lfj5/force_1/gain
/srh/srh_lfj5/force_1/offset
/srh/srh_lfj5/force_2/gain
/srh/srh_lfj5/force_2/offset
/srh/srh_lfj5/force_3/gain
/srh/srh_lfj5/force_3/offset
/srh/srh_lfj5/min_effort
/srh/srh_lfj5/position/gain
/srh/srh_lfj5/position/offset
/srh/srh_lfj5/temperature/gain
/srh/srh_lfj5/temperature/offset
/srh/srh_lfj5/voltage/gain
/srh/srh_lfj5/voltage/offset
/srh/srh_mfj0/current/gain
/srh/srh_mfj0/current/offset
/srh/srh_mfj0/force_1/gain
/srh/srh_mfj0/force_1/offset
/srh/srh_mfj0/force_2/gain
/srh/srh_mfj0/force_2/offset
/srh/srh_mfj0/force_3/gain
/srh/srh_mfj0/force_3/offset
/srh/srh_mfj0/min_effort
/srh/srh_mfj0/position/gain
/srh/srh_mfj0/position/offset
/srh/srh_mfj0/temperature/gain
/srh/srh_mfj0/temperature/offset
/srh/srh_mfj0/voltage/gain
/srh/srh_mfj0/voltage/offset
/srh/srh_mfj3/current/gain
/srh/srh_mfj3/current/offset
/srh/srh_mfj3/force_1/gain
/srh/srh_mfj3/force_1/offset
/srh/srh_mfj3/force_2/gain
/srh/srh_mfj3/force_2/offset
/srh/srh_mfj3/force_3/gain
/srh/srh_mfj3/force_3/offset
/srh/srh_mfj3/min_effort
/srh/srh_mfj3/position/gain
/srh/srh_mfj3/position/offset
/srh/srh_mfj3/temperature/gain
/srh/srh_mfj3/temperature/offset
/srh/srh_mfj3/voltage/gain
/srh/srh_mfj3/voltage/offset
/srh/srh_mfj4/current/gain
/srh/srh_mfj4/current/offset
/srh/srh_mfj4/force_1/gain
/srh/srh_mfj4/force_1/offset
/srh/srh_mfj4/force_2/gain
/srh/srh_mfj4/force_2/offset
/srh/srh_mfj4/force_3/gain
/srh/srh_mfj4/force_3/offset
/srh/srh_mfj4/min_effort
/srh/srh_mfj4/position/gain
/srh/srh_mfj4/position/offset
/srh/srh_mfj4/temperature/gain
/srh/srh_mfj4/temperature/offset
/srh/srh_mfj4/voltage/gain
/srh/srh_mfj4/voltage/offset
/srh/srh_rfj0/current/gain
/srh/srh_rfj0/current/offset
/srh/srh_rfj0/force_1/gain
/srh/srh_rfj0/force_1/offset
/srh/srh_rfj0/force_2/gain
/srh/srh_rfj0/force_2/offset
/srh/srh_rfj0/force_3/gain
/srh/srh_rfj0/force_3/offset
/srh/srh_rfj0/min_effort
/srh/srh_rfj0/position/gain
/srh/srh_rfj0/position/offset
/srh/srh_rfj0/temperature/gain
/srh/srh_rfj0/temperature/offset
/srh/srh_rfj0/voltage/gain
/srh/srh_rfj0/voltage/offset
/srh/srh_rfj3/current/gain
/srh/srh_rfj3/current/offset
/srh/srh_rfj3/force_1/gain
/srh/srh_rfj3/force_1/offset
/srh/srh_rfj3/force_2/gain
/srh/srh_rfj3/force_2/offset
/srh/srh_rfj3/force_3/gain
/srh/srh_rfj3/force_3/offset
/srh/srh_rfj3/position/gain
/srh/srh_rfj3/position/offset
/srh/srh_rfj3/temperature/gain
/srh/srh_rfj3/temperature/offset
/srh/srh_rfj3/voltage/gain
/srh/srh_rfj3/voltage/offset
/srh/srh_rfj4/current/gain
/srh/srh_rfj4/current/offset
/srh/srh_rfj4/force_1/gain
/srh/srh_rfj4/force_1/offset
/srh/srh_rfj4/force_2/gain
/srh/srh_rfj4/force_2/offset
/srh/srh_rfj4/force_3/gain
/srh/srh_rfj4/force_3/offset
/srh/srh_rfj4/min_effort
/srh/srh_rfj4/position/gain
/srh/srh_rfj4/position/offset
/srh/srh_rfj4/temperature/gain
/srh/srh_rfj4/temperature/offset
/srh/srh_rfj4/voltage/gain
/srh/srh_rfj4/voltage/offset
/srh/srh_thj1/current/gain
/srh/srh_thj1/current/offset
/srh/srh_thj1/force_1/gain
/srh/srh_thj1/force_1/offset
/srh/srh_thj1/force_2/gain
/srh/srh_thj1/force_2/offset
/srh/srh_thj1/force_3/gain
/srh/srh_thj1/force_3/offset
/srh/srh_thj1/min_effort
/srh/srh_thj1/position/gain
/srh/srh_thj1/position/offset
/srh/srh_thj1/temperature/gain
/srh/srh_thj1/temperature/offset
/srh/srh_thj1/voltage/gain
/srh/srh_thj1/voltage/offset
/srh/srh_thj2/current/gain
/srh/srh_thj2/current/offset
/srh/srh_thj2/force_1/gain
/srh/srh_thj2/force_1/offset
/srh/srh_thj2/force_2/gain
/srh/srh_thj2/force_2/offset
/srh/srh_thj2/force_3/gain
/srh/srh_thj2/force_3/offset
/srh/srh_thj2/min_effort
/srh/srh_thj2/position/gain
/srh/srh_thj2/position/offset
/srh/srh_thj2/temperature/gain
/srh/srh_thj2/temperature/offset
/srh/srh_thj2/voltage/gain
/srh/srh_thj2/voltage/offset
/srh/srh_thj3/current/gain
/srh/srh_thj3/current/offset
/srh/srh_thj3/force_1/gain
/srh/srh_thj3/force_1/offset
/srh/srh_thj3/force_2/gain
/srh/srh_thj3/force_2/offset
/srh/srh_thj3/force_3/gain
/srh/srh_thj3/force_3/offset
/srh/srh_thj3/min_effort
/srh/srh_thj3/position/gain
/srh/srh_thj3/position/offset
/srh/srh_thj3/temperature/gain
/srh/srh_thj3/temperature/offset
/srh/srh_thj3/voltage/gain
/srh/srh_thj3/voltage/offset
/srh/srh_thj4/current/gain
/srh/srh_thj4/current/offset
/srh/srh_thj4/force_1/gain
/srh/srh_thj4/force_1/offset
/srh/srh_thj4/force_2/gain
/srh/srh_thj4/force_2/offset
/srh/srh_thj4/force_3/gain
/srh/srh_thj4/force_3/offset
/srh/srh_thj4/min_effort
/srh/srh_thj4/position/gain
/srh/srh_thj4/position/offset
/srh/srh_thj4/temperature/gain
/srh/srh_thj4/temperature/offset
/srh/srh_thj4/voltage/gain
/srh/srh_thj4/voltage/offset
/srh/srh_thj5/current/gain
/srh/srh_thj5/current/offset
/srh/srh_thj5/force_1/gain
/srh/srh_thj5/force_1/offset
/srh/srh_thj5/force_2/gain
/srh/srh_thj5/force_2/offset
/srh/srh_thj5/force_3/gain
/srh/srh_thj5/force_3/offset
/srh/srh_thj5/min_effort
/srh/srh_thj5/position/gain
/srh/srh_thj5/position/offset
/srh/srh_thj5/temperature/gain
/srh/srh_thj5/temperature/offset
/srh/srh_thj5/voltage/gain
/srh/srh_thj5/voltage/offset
/srh/srh_wrj1/current/gain
/srh/srh_wrj1/current/offset
/srh/srh_wrj1/force_1/gain
/srh/srh_wrj1/force_1/offset
/srh/srh_wrj1/force_2/gain
/srh/srh_wrj1/force_2/offset
/srh/srh_wrj1/force_3/gain
/srh/srh_wrj1/force_3/offset
/srh/srh_wrj1/min_effort
/srh/srh_wrj1/position/gain
/srh/srh_wrj1/position/offset
/srh/srh_wrj1/temperature/gain
/srh/srh_wrj1/temperature/offset
/srh/srh_wrj1/voltage/gain
/srh/srh_wrj1/voltage/offset
/srh/srh_wrj2/current/gain
/srh/srh_wrj2/current/offset
/srh/srh_wrj2/force_1/gain
/srh/srh_wrj2/force_1/offset
/srh/srh_wrj2/force_2/gain
/srh/srh_wrj2/force_2/offset
/srh/srh_wrj2/force_3/gain
/srh/srh_wrj2/force_3/offset
/srh/srh_wrj2/min_effort
/srh/srh_wrj2/position/gain
/srh/srh_wrj2/position/offset
/srh/srh_wrj2/temperature/gain
/srh/srh_wrj2/temperature/offset
/srh/srh_wrj2/voltage/gain
/srh/srh_wrj2/voltage/offset

#### publish frequency of different things ####
/srh_robot_state_publisher_pos_etherCAT/publish_frequency

#### don't know ####
/use_sim_time

Services

The following list is obtained by typing

rosservice list

#### Bootloader service to flash the motorboards ####
/SimpleMotorFlasher

#### change logging levelof related nodes ####
/attach_forearm/get_loggers
/attach_forearm/set_logger_level
/diagnostic_aggregator/get_loggers
/diagnostic_aggregator/set_logger_level
/ff_kinematics/get_loggers
/ff_kinematics/set_logger_level
/lf_kinematics/get_loggers
/lf_kinematics/set_logger_level
/mf_kinematics/get_loggers
/mf_kinematics/set_logger_level
/rf_kinematics/get_loggers
/rf_kinematics/set_logger_level
/realtime_loop/get_loggers
/realtime_loop/set_logger_level
/srh_robot_state_publisher_pos_etherCAT/get_loggers
/srh_robot_state_publisher_pos_etherCAT/set_logger_level
/realtime_loop/set_debug_publishers
/rosout/get_loggers
/rosout/set_logger_level

#### IK services for 4 fingers #### (thumb not yet available)
/ff_kinematics/get_fk
/ff_kinematics/get_fk_solver_info
/ff_kinematics/get_ik
/ff_kinematics/get_ik_solver_info
/ff_kinematics/tf_frames
/lf_kinematics/get_fk
/lf_kinematics/get_fk_solver_info
/lf_kinematics/get_ik
/lf_kinematics/get_ik_solver_info
/lf_kinematics/tf_frames
/mf_kinematics/get_fk
/mf_kinematics/get_fk_solver_info
/mf_kinematics/get_ik
/mf_kinematics/get_ik_solver_info
/mf_kinematics/tf_frames
/rf_kinematics/get_fk
/rf_kinematics/get_fk_solver_info
/rf_kinematics/get_ik
/rf_kinematics/get_ik_solver_info
/rf_kinematics/tf_frames

#### controller manager services (get list of loaded controller, stop/start, load/unload) ####
/pr2_controller_manager/list_controller_types
/pr2_controller_manager/list_controllers
/pr2_controller_manager/load_controller
/pr2_controller_manager/reload_controller_libraries
/pr2_controller_manager/switch_controller
/pr2_controller_manager/unload_controller

#### ethercat loop services ? ####
/pr2_etherCAT/halt_motors
/pr2_etherCAT/publish_trace
/pr2_etherCAT/reset_motors

#### access to motorboard ####
/realtime_loop/change_force_PID_FFJ0
/realtime_loop/change_force_PID_FFJ1
/realtime_loop/change_force_PID_FFJ2
/realtime_loop/change_force_PID_FFJ3
/realtime_loop/change_force_PID_FFJ4
/realtime_loop/change_force_PID_LFJ0
/realtime_loop/change_force_PID_LFJ1
/realtime_loop/change_force_PID_LFJ2
/realtime_loop/change_force_PID_LFJ3
/realtime_loop/change_force_PID_LFJ4
/realtime_loop/change_force_PID_LFJ5
/realtime_loop/change_force_PID_MFJ0
/realtime_loop/change_force_PID_MFJ1
/realtime_loop/change_force_PID_MFJ2
/realtime_loop/change_force_PID_MFJ3
/realtime_loop/change_force_PID_MFJ4
/realtime_loop/change_force_PID_RFJ0
/realtime_loop/change_force_PID_RFJ1
/realtime_loop/change_force_PID_RFJ2
/realtime_loop/change_force_PID_RFJ3
/realtime_loop/change_force_PID_RFJ4
/realtime_loop/change_force_PID_THJ1
/realtime_loop/change_force_PID_THJ2
/realtime_loop/change_force_PID_THJ3
/realtime_loop/change_force_PID_THJ4
/realtime_loop/change_force_PID_THJ5
/realtime_loop/change_force_PID_WRJ1
/realtime_loop/change_force_PID_WRJ2

/realtime_loop/reset_motor_FFJ0
/realtime_loop/reset_motor_FFJ1
/realtime_loop/reset_motor_FFJ2
/realtime_loop/reset_motor_FFJ3
/realtime_loop/reset_motor_FFJ4
/realtime_loop/reset_motor_LFJ0
/realtime_loop/reset_motor_LFJ1
/realtime_loop/reset_motor_LFJ2
/realtime_loop/reset_motor_LFJ3
/realtime_loop/reset_motor_LFJ4
/realtime_loop/reset_motor_LFJ5
/realtime_loop/reset_motor_MFJ0
/realtime_loop/reset_motor_MFJ1
/realtime_loop/reset_motor_MFJ2
/realtime_loop/reset_motor_MFJ3
/realtime_loop/reset_motor_MFJ4
/realtime_loop/reset_motor_RFJ0
/realtime_loop/reset_motor_RFJ1
/realtime_loop/reset_motor_RFJ2
/realtime_loop/reset_motor_RFJ3
/realtime_loop/reset_motor_RFJ4
/realtime_loop/reset_motor_THJ1
/realtime_loop/reset_motor_THJ2
/realtime_loop/reset_motor_THJ3
/realtime_loop/reset_motor_THJ4
/realtime_loop/reset_motor_THJ5
/realtime_loop/reset_motor_WRJ1
/realtime_loop/reset_motor_WRJ2

#### controller services (change the PID gains) ####
/sh_ffj0_mixed_position_velocity_controller/set_gains
/sh_ffj3_mixed_position_velocity_controller/set_gains
/sh_ffj4_mixed_position_velocity_controller/set_gains
/sh_lfj0_mixed_position_velocity_controller/set_gains
/sh_lfj3_mixed_position_velocity_controller/set_gains
/sh_lfj4_mixed_position_velocity_controller/set_gains
/sh_lfj5_mixed_position_velocity_controller/set_gains
/sh_mfj0_mixed_position_velocity_controller/set_gains
/sh_mfj3_mixed_position_velocity_controller/set_gains
/sh_mfj4_mixed_position_velocity_controller/set_gains
/sh_rfj0_mixed_position_velocity_controller/set_gains
/sh_rfj3_mixed_position_velocity_controller/set_gains
/sh_rfj4_mixed_position_velocity_controller/set_gains
/sh_thj1_mixed_position_velocity_controller/set_gains
/sh_thj2_mixed_position_velocity_controller/set_gains
/sh_thj3_mixed_position_velocity_controller/set_gains
/sh_thj4_mixed_position_velocity_controller/set_gains
/sh_thj5_mixed_position_velocity_controller/set_gains
/sh_wrj1_mixed_position_velocity_controller/set_gains
/sh_wrj2_mixed_position_velocity_controller/set_gains

#### Tactile sensors reset ####
/tactiles/reset