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Actions

This section describes the various ROS2 Actions used in the Doosan Robotics package, detailing the structure of their goal, feedback and result messages.

JogH2r

This action initiates a jog motion along the specified axis. It is a hold-to-run version of the jog command and must be sustained by periodically calling the hold2run command.

Goal:

int8       jog_axis
int8       move_reference
float64    velocity

Result:

bool       success

Feedback:

float64[6] pos

MovejH2r

This action initiates a joint-space motion to a target position. It is a hold-to-run version of the movej command and must be sustained by periodically calling the hold2run command.

Goal:

float64[6] target_pos
float64[6] target_vel
float64[6] target_acc

Result:

bool       success

Feedback:

float64[6] pos

MovelH2r

This action initiates a linear motion to a target position in task space. It is a hold-to-run version of the movel command and must be sustained by periodically calling the hold2run command.

Goal:

float64[6] target_pos
float64[2] target_vel
float64[2] target_acc

Result:

bool       success

Feedback:

float64[6] pos