hr_actuators: ROS 2 declarations
Direct rclpy publisher/subscriber arguments use type, name, callback/QoS ordering. Compatibility wrapper calls include the node as their first argument. Service arguments identify the service type and name. Namespace/remapping and computed names must be resolved from the active launch configuration.
launch/actuation_core.launch.py
Source: head-ros-nodes/ros/hr_actuators/launch/actuation_core.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'enable_waist', default_value='true' |
11 |
| Launch argument | 'enable_arms_control', default_value='true' |
12 |
| Launch argument | 'enable_arms_alive', default_value='false' |
13 |
| Launch argument | 'enable_fake_hardware', default_value='true' |
14 |
scripts/actuators_node.py
Source: head-ros-nodes/ros/hr_actuators/scripts/actuators_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Service server | SetActuatorsControl, '/hr/actuators/set_control', self.set_control |
147 |
| Publisher | Pau, '/hr/actuators/current_state', latched_state_qos() |
148 |
| Subscription | Pau, self.animation_topic, self.handle_animation, topic_qos(10) |
144 |
| Subscription | TargetPosture, self.actuators_topic, self.set_pose, topic_qos(10) |
145 |
| Subscription | TargetPosture, '/hr/actuators/offsets', self.set_offsets, topic_qos(10) |
146 |
scripts/fake_hardware_sink.py
Source: head-ros-nodes/ros/hr_actuators/scripts/fake_hardware_sink.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | TargetPosture, '/hr/actuators/fake_hardware/last_command', latched_state_qos() |
23 |
| Subscription | TargetPosture, '/hr/actuators/target_pose', self.on_target, topic_qos(10) |
24 |
| Subscription | TargetPosture, '/hr/actuators/loop/pose', self.on_target, topic_qos(10) |
25 |
scripts/waist_node.py
Source: head-ros-nodes/ros/hr_actuators/scripts/waist_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | TargetPosture, '/hr/actuators/pose', topic_qos(2) |
259 |
| Subscription | TargetPosture, '/hr/actuators/waist/pose', waist_callback, topic_qos(10) |
260 |
| Subscription | TargetPosture, '/hr/actuators/offsets', offsets_cb, topic_qos(10) |
261 |
| Subscription | TargetPosture, '/hr/actuators/feetechTorso/pose', neck_cb, topic_qos(10) |
262 |
src/hr_actuators/HardwareFactory.py
Source: head-ros-nodes/ros/hr_actuators/src/hr_actuators/HardwareFactory.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.messageType, self.getTopicName(args['topic']), topic_qos(30) |
46 |
| Publisher | self.messageType, '/hr/actuators/target_pose', topic_qos(1) |
75 |