Services

The corobot_arm node provides the following device services:

• move_arm
  • Service Type : corobot_srvs::MoveArm
  • move the arm of the Corobot.

• move_wrist
  • Service Type : corobot_srvs::MoveArm
  • Change the orientation of the wrist.

• move_gripper
  • Service Type : corobot_srvs::MoveArm
  • Set a new position to the gripper.

• reset_arm
  • Service Type : corobot_srvs::MoveArm
  • Reset the position the Corobot's arm.

Topics

Input

Output

• phidgetServo_setPosition
  • Topic Type : corobot_msgs::ServoPosition
  • Give an order of angle postion for a specific servo motor.

• phidgetServo_setType
  • Topic Type : corobot_msgs::ServoType
  • Give the type of servo motor for a specific servo connected to the Phidget.

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