• launch/control.launch
  • • device_id [default: 1] — The ID of the device [1, 128].
    • device_name [default: $(arg device_type)$(arg device_id)] — The unique device name used in the yaml controller configurations (also in the urdf if not already specified there).
    • control_duration [default: 0.01] — The duration of the control loop [s].
    • robot_hardware [default: [$(arg device_name)]] — The robot hardware interface names, e.g. [device1, device2, ...].
    • robot_name [default: $(arg device_type)] — The unique robot name.
    • robot_namespace [default: $(arg device_name)] — The unique robot namespace.
    • robot_package [default: qb_hand] — The base package name prefix for the robot configurations [urdf, rviz, ...].
    • source_list [default: [control/joint_states]] — The joint_states source list for the joint_state_publisher.
    • get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
    • get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
    • get_distinct_packages [default: true] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
    • max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
    • set_commands [default: true] — Choose whether or not to send command positions to the device.
    • set_commands_async [default: true] — Choose whether or not to send commands without waiting for ack.
    • activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
    • rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
    • standalone [default: false] — Choose whether or not to start the Communication Handler.
    • use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
    • use_rviz [default: false] — Choose whether or not to use rviz.
    • use_waypoints [default: false] — Choose whether or not to use the waypoint references.

No questions yet, you can ask one here.