Mab Robotics MD80 x CANdle, Руководство пользователя

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Set mode
Next the desired control mode should be selected. This is accomplished with
/candle_ros2_node/set_mode_md80s service.
For example:
ros2 service call /candle_ros2_node/set_mode_md80s candle_ros2/srv/SetModeMd80s "{drive_ids: [200,
800], mode:["IMPEDANCE", "IMPEDANCE"]}"
Should produce:
response:
candle_ros2.srv.SetModeMd80s_Response(drives_success=[True, True])
Informing that for both drives mode has been set correctly.
Set Zero
O en when starting, setting a current position to zero is desired. This can be accomplished with a call to
/candle_ros2_node/zero_md80s service.
ros2 service call /candle_ros2_node/zero_md80s candle_ros2/srv/GenericMd80Msg
"{drive_ids:[200,800]}"
Enabling/Disabling drives
Using services /candle_ros2_node/enable_md80s and /candle_ros2_node/disable_md80s the drives and the
node publishers and subscribers can be enabled/disabled.
NOTE: A er calling /candle_ros2_node /enable_md80s service, no calls to services other than
/candle_ros2_node/disable_md80s should be done.
A er enabling, the node will publish current joint states to /joint_states at a frequency dependent on a
currently chosen communication bus and speed mode. Joint names are generated based on drivie ID, for
example, drive with id 546 will be called
Joint 546 .
The node will also listen for the messages on topics for controlling the drives. All of the above topics are
listened to all the time, but currently applied settings are dependent on the md80 mode set before enabling.
ros2 service call /candle_ros2_node/enable_md80s candle_ros2/srv/GenericMd80Msg "{drive_ids:[200,
800]}"
ros2 service call /candle_ros2_node/disable_md80s candle_ros2/srv/GenericMd80Msg "{drive_ids:[200,
800]}"
Controlling drives
Controlling the drives is done via the four topics listed above. For commands to be viable, all field of each
message must be filled properly. For example, to set up custom gains for IMPEDANCE mode use:
ros2 topic pub /md80/impedance_command candle_ros2/msg/ImpedanceCommand "{drive_ids: [200,
800], kp: [1.0,1.0]], kd: [0.001,0.001], max_output: [1.0, 1.0]}"
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