QB Robotics qbmove Advanced Kit, User Manual

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28 aprile 2021
Figure 6-13: Example of launch files
6.5.2.4 Control Modes
For the sake of simplicity, we are going to cover all the control modes for a single qbmove , but it
is just a matter of putting things together and set the launch file parameters properly to control
several devices together (
qb_chain_control is dedicated for such a scope).
All the control modes are initialized in the same manner but with distinct command line
arguments. The default single-device control Node which brings everything up and simply waits
for commands on the above-mentioned Action topic is the following:
roslaunch qb_move_control control.launch standalone:=true activa
te_on_initialization:=true device_id:=<actual_device_id>
The arguments explained
•
activate_on_initialization [false] : Activates the motors at startup
(the device will not move since the first command reference is received).
•
device_id [1] :
Each device has its own ID, you need to set the one of the actual
device connect to your system.
•
standalone [false] :
Starts the Communication Handler together with the
control Node. If you set this to
false
(or remove it since the default value
is false ), you need to launch the Communication Handler in a separate terminal.
It is worth noting that the activation of the motors can be postponed to improved safety if you
are not aware of the state of the system at startup. To do so just set
activate_on_initialization:=false (or remove it since the default value is