<> <> == Overview == Checks transmissions status of PR2 transmissions. To do this, it loads the URDF from the `robot_description` param, and checks that each actuator calibration flag corresponds to the correct joint position. It works for all joints with simple transmissions, and wrist transmissions. Once a transmission reports invalid data, the "pr2_etherCAT/halt_motors" service will be called. Users must reset motors using the pr2_dashboard. == Nodes == {{{ #!clearsilver CS/NodeAPI name = pr2_transmission_check desc = Publishes joint and controller diagnostics, checks transmissions pub { 0.name = ~transmission_status 0.type = std_msgs/Bool 0.desc = True if transmissions are OK 1.name = /diagnostics 1.type = diagnostic_msgs/DiagnosticArray 1.desc = Publishes output for each transmission } srv { 0.name= ~reset_trans_check 0.type= pr2_power_board/PowerBoardCommand2 0.desc= Reset the transmission status to True } }}} All transmissions will publish diagnostics on last observed position, the joints and actuators, and the number of errors. Joints that have transmission errors will be in error state until reset. ## AUTOGENERATED DON'T DELETE ## CategoryPackage