search

ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
325 stars 146 forks source link

Shut down actuators from python code #224

Open auxoche opened 2 years ago

auxoche commented 2 years ago

Good evening, is it possible to access low level commands for the actuators easily from Python code? I noticed that the open_manipulator_controller turns off the motors before exiting while a code with MoveIt will leave them on.

Are there any python code examples that address this? Would also accept python code examples that use the default open_manipulator_controller instead.

ROBOTIS-Will commented 2 years ago

Hi @auxoche The torque off feature of the controller is built in feature in the controller node, so you cannot disable it without modifying the controller node. You may comment the below code out in order to keep the torque of the DYNAMIXEL when the node is destroyed. https://github.com/ROBOTIS-GIT/open_manipulator/blob/ros2/open_manipulator_x_controller/src/open_manipulator_x_controller.cpp#L57