ros_feetech: 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.
scripts/feetech_node.py
Source: head-ros-nodes/ros/ros_feetech/scripts/feetech_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| ROS parameter | name, default |
44 |
| Publisher | MotorStateList, '/hr/actuators/motor_states', topic_qos(1) |
92 |
| Subscription | TargetPosture, '/hr/actuators/target_pose', self.motor_command_callback, topic_qos(10) |
94 |
| Subscription | String, '/hr/actuators/feetech_sync', self.sync_callback, topic_qos(10) |
95 |
| Subscription | Bool, '/hr/actuators/set_all_torque', self.all_torque_callback, topic_qos(10) |
96 |
| Subscription | Bool, '/hr/actuators/feetech_reload', self.reload_callback, topic_qos(10) |
97 |
| Subscription | String, '/hr/actuators/start_logging', self.start_logging, topic_qos(10) |
98 |
| Subscription | String, '/hr/actuators/stop_logging', self.stop_logging, topic_qos(10) |
99 |
| Service server | MotorValuesBool, '/hr/actuators/set_torque_enable', self.torque_callback |
103 |
| Service server | MotorValuesBool, '/hr/actuators/set_torque_enable', self.torque_callback, qos_profile=service_profile |
109 |