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restart_controller
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initialize
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(self)
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process_command
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(self, msg)
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process_motor_states
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(self, state_list)
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process_set_compliance_margin
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process_set_compliance_punch
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process_set_compliance_slope
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(self, req)
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process_set_speed
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(self, req)
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process_set_torque_limit
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process_torque_enable
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(self, req)
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rad_to_raw
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raw_to_rad
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set_compliance_margin
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(self, margin)
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set_compliance_punch
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(self, punch)
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set_compliance_slope
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(self, slope)
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set_speed
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(self, speed)
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set_torque_enable
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(self, torque_enable)
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set_torque_limit
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(self, max_torque)
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start
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stop
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command_sub
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__init__
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initialize
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pos_rad_to_raw
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process_command
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process_motor_states
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set_acceleration_raw
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set_compliance_margin
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set_compliance_punch
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set_compliance_slope
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set_speed
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set_torque_enable
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set_torque_limit
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spd_rad_to_raw
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joint_max_speed
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joint_speed
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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joint_state
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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max_angle
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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max_angle_raw
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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MAX_POSITION
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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MAX_VELOCITY
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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min_angle
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
ad2980c3eb7a431025fec3aab4c1a4974
min_angle_raw
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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MIN_VELOCITY
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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motor_id
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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RADIANS_PER_ENCODER_TICK
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
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VELOCITY_PER_TICK
classdynamixel__controllers_1_1joint__position__controller_1_1JointPositionController.html
a741a341cf50b81e2716efed9c8d9afa5
dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
dynamixel_controllers::joint_controller::JointController
def
__init__
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a03b1dfd80e092d7d48259bd603262efe
(self, dxl_io, controller_namespace, port_namespace)
def
initialize
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a87a789b223b9a34aec5a1538ee24d16a
(self)
def
pos_rad_to_raw
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a8db51ee1aefb3eec4fec62ed230936a5
(self, angle)
def
process_command
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a039ec66c11ba0c6942ccc0b28b2fc3cf
(self, msg)
def
process_motor_states
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a698acc04b07a10f5d79e694d632daa46
(self, state_list)
def
set_compliance_margin
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a03c33eab77c79135ef8f40752206c292
(self, margin)
def
set_compliance_punch
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
aa392ad24d93ec0bd5c45bd8248c4823c
(self, punch)
def
set_compliance_slope
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
ab4010d4ed4f5872e422865bdc8a86c96
(self, slope)
def
set_speed
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a5674e2c2206f1442001ba7684fdf5dcc
(self, speed)
def
set_torque_enable
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a33b46f09e18958875a5111d9e804b8f6
(self, torque_enable)
def
set_torque_limit
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a56380143862792ad3a6876de07d5b912
(self, max_torque)
def
spd_rad_to_raw
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a5a96d3bd5d40feb12ffcb581d7acedc1
(self, spd_rad)
ENCODER_RESOLUTION
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
acbcd0c5b7678d6d67500c6a09b490718
ENCODER_TICKS_PER_RADIAN
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a84cdd7ef583b7676f420d52871bd512f
flipped
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a293c0f6a614b29f823e80c1b98d3cd8e
joint_max_speed
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
ad27362c487157ced2e5f2cc64e44c82f
joint_speed
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
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joint_state
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
aea6a9357dca35e4bc742d3e5ac59c8ce
master_id
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master_initial_position_raw
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master_max_angle
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
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master_max_angle_raw
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a02096466e22fad9a6fb3ebbcf6f6aa48
master_min_angle
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
af9b6ad2d7b244499ebe15e34d5d4bafd
master_min_angle_raw
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aa731c6a8d7b3528bdfa23f978425c805
MAX_POSITION
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
ae85c0eab1510241030f9fbc22adfb7b8
MAX_VELOCITY
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
aca164429952d77b825aa053b5fe221d0
MIN_VELOCITY
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
ac6d282a14ac99994bb4f6922c25a4884
RADIANS_PER_ENCODER_TICK
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a1042be540605318ccc07028e97a9647c
slave_id
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a3957cfe4f71a71b1f741e6e3e0f49309
slave_offset
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
abe865e0913cadd5c8f99099272616e6f
VELOCITY_PER_TICK
classdynamixel__controllers_1_1joint__position__controller__dual__motor_1_1JointPositionControllerDual.html
a2007fbe615274ee0f8feada3a4724030
dynamixel_controllers::joint_torque_controller::JointTorqueController
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
dynamixel_controllers::joint_controller::JointController
def
__init__
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a35fda9520a2a728c7f1c40d5d8c83f13
(self, dxl_io, controller_namespace, port_namespace)
def
initialize
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aa8caaf49515f747d5d4142b07be803f5
(self)
def
process_command
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a4bb191d488e477451bf954fb439f3573
(self, msg)
def
process_motor_states
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a272b1c9a711f608b3761e27a30e0ec80
(self, state_list)
def
set_compliance_margin
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a69b63d49faf52179c247f0a101946ae6
(self, margin)
def
set_compliance_punch
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a317a410b656b15c5b0066622a8991f11
(self, punch)
def
set_compliance_slope
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a1ec30f51c9c3409a24232af3c50d8fe2
(self, slope)
def
set_speed
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a4bd0cb20fdf14a34c2dfd0eaada3d925
(self, speed)
def
set_torque_enable
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a0921e3dc8fe7e5c5f48ea449a64b03a0
(self, torque_enable)
def
set_torque_limit
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a557b0cbe66a2423b4b342922d90347fa
(self, max_torque)
def
spd_rad_to_raw
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
ac5eb1af408da423a97956bc896859db4
(self, spd_rad)
ENCODER_RESOLUTION
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a0c6146f0fbcfa14ccace2806a081d67d
ENCODER_TICKS_PER_RADIAN
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a1abc58b325b591bdd8ba0355b80d90b7
flipped
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a172d6e36ab7a230fb6dd5227bcb303d8
initial_position_raw
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
ad24688a323847dd322cbedb657932738
joint_max_speed
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aa46fc052721634801a751b2bfde554ca
joint_speed
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a6d4a21582902390e331c2d750a907526
joint_state
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a9a11cd15ce5552b2b6da1f28ce702b59
last_commanded_torque
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
abe5e0bb1146f3b4a6ba91f1ae865d5b2
max_angle
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
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max_angle_raw
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aaf6697b3ba6ea3574f15e93b78cd40eb
MAX_POSITION
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a925d8b78154958ade8616270a4a2b64d
MAX_VELOCITY
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aef6fc178fd3331685bc29a8d3707d7f0
min_angle
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aa079081c5319b82d96deda6148337be9
min_angle_raw
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a3d5f742296a972f479cd51829125b6fc
MIN_VELOCITY
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a0ea30e4161621744b19708622b8a1221
motor_id
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
aaf89ba30f80be70baee00bc53054e1d9
RADIANS_PER_ENCODER_TICK
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
a1153ce56c993d9fc99fae7e99b725049
VELOCITY_PER_TICK
classdynamixel__controllers_1_1joint__torque__controller_1_1JointTorqueController.html
ab2551b9a7f4cf390239bdee46e6e941a
dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
dynamixel_controllers::joint_controller::JointController
def
__init__
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ac143e1d5e8d4ec9b2f1419a03e45092c
(self, dxl_io, controller_namespace, port_namespace)
def
initialize
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a02bd4c16843e2e44bdd210395e83efb5
(self)
def
process_command
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ae64e20c0e569930cdda1fc75460ae422
(self, msg)
def
process_motor_states
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a97f500e3caad45a3050e41b31642cc5d
(self, state_list)
def
set_compliance_margin
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a43e194e3d4940276e243111b6d2732ad
(self, margin)
def
set_compliance_punch
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
afa78a656fb1a9e5f1b08f3d033de245c
(self, punch)
def
set_compliance_slope
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a18b2be85f08efbfbb5896a70912c5d2e
(self, slope)
def
set_speed
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ad10fda7d37dcce2101585315ccaa6d2c
(self, speed)
def
set_torque_enable
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
adb706374f9a3e4a3cddb1ebafde0c15a
(self, torque_enable)
def
set_torque_limit
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a642f142d5f8b18c8e556c0c0578eb95e
(self, max_torque)
ENCODER_RESOLUTION
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a8bd7f5ce441f4b38400f2eff2f5e6996
ENCODER_TICKS_PER_RADIAN
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a2c86c5bc258c1b4cfe5f67f7a31d1877
flipped
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a706ed08004b65f2928459293dea6c95c
joint_max_speed
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a4d1512f434b86b646180e7c7c1796209
joint_speed
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a1639d246c974f085875503660d5408d3
joint_state
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ae355b40cbbbf10482f3305bdd7c54c7e
last_commanded_torque
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a68971e4badfe2c0f4883fa29870dbdbe
master_id
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a45c1eb89645836bfc34b6fc6d195e135
master_initial_position_raw
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a39b1f466ccb7d11f1c37f0fcec4ab974
master_max_angle
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a30af20e47cd72a656f3e33692a139672
master_max_angle_raw
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a07839e19981c49587bd78b9fef529e22
master_min_angle
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
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master_min_angle_raw
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a4309077d6f7d9d63710c9e1ae78fb89d
MAX_POSITION
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ab0ee835a5729c48e4b65a47ba17d8061
MAX_VELOCITY
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
addf6c3d8b074bc2c05af072c8582cac4
MIN_VELOCITY
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ad25f960e859ec1746d7f7d0edd3dd056
RADIANS_PER_ENCODER_TICK
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
ac3cc015c75e057f7a45405f4241b34fd
slave_id
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a1018784e8491d93f018ebb90879562cc
VELOCITY_PER_TICK
classdynamixel__controllers_1_1joint__torque__controller__dual__motor_1_1JointTorqueControllerDualMotor.html
a2cc669091a0662b00608366f00d85594
dynamixel_controllers::joint_trajectory_action_controller::JointTrajectoryActionController
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
def
__init__
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a78e8f0b1313976d80c17365eca5f2de4
(self, controller_namespace, controllers)
def
initialize
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a79e68136bd05bdd0e6efcf2b882c30dd
(self)
def
process_command
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a86f9e610dbac6f1de79f4ff95448daa9
(self, msg)
def
process_follow_trajectory
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
afbfa29ff56121dd37e2dc579e8a32da2
(self, goal)
def
process_trajectory
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a377f9da3c6ee849f3a12ffc08c03f2df
(self, traj)
def
start
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a4d40c093c5c25f5dff942a4c3ad69eec
(self)
def
stop
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a88b8801366d5ebdcbb1cc3a975bec4df
(self)
def
update_state
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
af6eaafc747de86e310755b0638c2c9ad
(self)
action_server
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
aa40ddacfeb4a25f65ddb6aeb7b1526b3
command_sub
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a7c8773ac507807ccd956cc8b2ced1af8
controller_namespace
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a6fe0cdf9780014b34ffcee053b01b420
goal_constraints
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
ad2c6335c919957f5689db2b6c29df48d
goal_time_constraint
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
ad82649e3c1482fcb715d676bbf9e4c74
joint_names
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
ab7d5d760a005ea279247aab63a3f4de9
joint_states
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a62812ebc472c98503178a1a186af4b53
joint_to_controller
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
a0fd9fa565c826ab2191a34b649030916
joint_to_idx
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
ac4fc4cf72fdec62abaa5e882f67bf17d
min_velocity
classdynamixel__controllers_1_1joint__trajectory__action__controller_1_1JointTrajectoryActionController.html
aa2ceaafb637e600a3595665edac2123b
msg
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def
manage_controller
namespacecontroller__spawner.html
a35e2c94db3e9253a989ac159ad9077c3
(controller_name, port_namespace, controller_type, command, deps, start, stop, restart)
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string
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dynamixel_controllers
namespacedynamixel__controllers.html
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dynamixel_controllers::joint_torque_controller
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dynamixel_controllers::joint_position_controller
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dynamixel_controllers::joint_position_controller::JointPositionController
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dynamixel_controllers::joint_position_controller_dual_motor
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dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual
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__author__
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string
__credits__
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string
__maintainer__
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dynamixel_controllers::joint_torque_controller
namespacedynamixel__controllers_1_1joint__torque__controller.html
dynamixel_controllers::joint_torque_controller::JointTorqueController
string
__author__
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string
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string
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string
__license__
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__maintainer__
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dynamixel_controllers::joint_torque_controller_dual_motor
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dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor
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dynamixel_controllers::joint_trajectory_action_controller
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dynamixel_controllers::joint_trajectory_action_controller::JointTrajectoryActionController
dynamixel_controllers::joint_trajectory_action_controller::Segment
string
__author__
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string
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__maintainer__
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index
index
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