sr_robot_msgs/RobotTeachMode Service

File: sr_robot_msgs/RobotTeachMode.srv

Raw Message Definition

#request constants
#Trajectory controller running on top of position controller
uint32 TRAJECTORY_MODE=0
#Zero-force controller running (call teach-mode in the case of the arm). No trajectory controller running
uint32 TEACH_MODE=1
#Position controller running, but no traj controller (this is useful to teleoperate the arm or to move freely certain joints of the hands)
uint32 POSITION_MODE=2
#Grasp controller running
uint32 GRASP_MODE=3

#request fields
uint32 teach_mode
string robot
---
#response constants
int32 ERROR=-1
int32 SUCCESS=0

#response fields
int32 result

Compact Message Definition

uint32 TRAJECTORY_MODE=0
uint32 TEACH_MODE=1
uint32 POSITION_MODE=2
uint32 GRASP_MODE=3
uint32 teach_mode
string robot

int32 ERROR=-1
int32 SUCCESS=0
int32 result