Doosan Robotics ROS2 Manual Logo
  • Overview
    • Architecture
      • Controller Manager (CM)
      • Controllers
      • User Interfaces
      • Hardware Components
    • Packages
      • dsr_bringup2
      • dsr_common2
      • dsr_controller2
      • dsr_description2
      • dsr_example2
      • dsr_hardware2
      • dsr_msgs2
      • dsr_mujoco
      • dsr_tests
      • dsr_moveit_config_{model}
      • dsr_gazebo2
  • Installation
    • Prerequisites
    • Required Dependencies
    • Workspace & Package Setup
    • Emulator Setup (Optional)
    • Build the Package
    • Test the Installation
    • Devcontainer installation(Optional)
  • Tutorials
    • Launch Parameters
      • mode
      • name
      • host
      • port
      • model
      • color
      • gui
      • gz
      • rt_host
    • Operation Modes
      • Virtual Mode
      • Real Mode
    • Basic Tutorials
      • RViz2 Launch
        • Command
        • Arguments
        • Examples
      • Gazebo Simulation
        • Command
        • Arguments
        • Examples
        • Multi-Arm Simulation
        • References
      • MoveIt2 Integration
        • Command
        • Arguments
        • Examples
        • Motion Execution Demo
    • Advanced Tutorials
      • DSR_ROBOT2 Python Library Tutorial
        • Overview
        • Architecture
        • Quick Start
        • Setup and Launch
        • References
      • Launch with MuJoCo
        • Overview
        • Prerequisites
        • Command
        • Arguments
        • Example
        • Customizing the MuJoCo Environment
        • Gripper Operation
        • References
  • Topics
    • RobotState
    • RobotStop
    • RobotError
    • LogAlarm
    • ModbusState
    • JogMultiAxis
    • ServojRtStream
    • ServojStream
    • ServolRtStream
    • ServolStream
    • SpeedjRtStream
    • SpeedjStream
    • SpeedlRtStream
    • SpeedlStream
    • TorqueRtStream
    • AlterMotionStream
    • RobotStateRt
    • RobotDisconnection
  • Services
    • aux_control Services
      • GetControlMode
      • GetControlSpace
      • GetCurrentPosj
      • GetCurrentPosx
      • GetCurrentRotm
      • GetCurrentSolutionSpace
      • GetCurrentToolFlangePosx
      • GetCurrentVelj
      • GetCurrentVelx
      • GetDesiredPosj
      • GetDesiredPosx
      • GetDesiredVelj
      • GetDesiredVelx
      • GetExternalTorque
      • GetJointTorque
      • GetOrientationError
      • GetSolutionSpace
      • GetToolForce
    • drl Services
      • DrlStart
      • DrlStop
      • DrlPause
      • DrlResume
      • GetDrlState
    • force Services
      • AlignAxis1
      • AlignAxis2
      • CalcCoord
      • CheckForceCondition
      • CheckOrientationCondition1
      • CheckOrientationCondition2
      • CheckPositionCondition
      • CoordTransform
      • GetUserCartCoord
      • GetWorkpieceWeight
      • IsDoneBoltTightening
      • OverwriteUserCartCoord
      • ParallelAxis1
      • ParallelAxis2
      • ReleaseComplianceCtrl
      • ReleaseForce
      • ResetWorkpieceWeight
      • SetDesiredForce
      • SetStiffnessx
      • SetUserCartCoord1
      • SetUserCartCoord2
      • SetUserCartCoord3
      • TaskComplianceCtrl
    • gripper Services
      • Robotiq2FMove
      • Robotiq2FOpen
      • Robotiq2FClose
      • SerialSendData
    • io Services
      • SetCtrlBoxDigitalOutput
      • GetCtrlBoxDigitalOutput
      • GetCtrlBoxDigitalInput
      • SetToolDigitalOutput
      • GetToolDigitalOutput
      • GetToolDigitalInput
      • SetCtrlBoxAnalogOutput
      • SetCtrlBoxAnalogInputType
      • SetCtrlBoxAnalogOutputType
      • GetCtrlBoxAnalogInput
    • modbus Services
      • ConfigCreateModbus
      • ConfigDeleteModbus
      • GetModbusInput
      • SetModbusOutput
    • Motion Services
      • Trans
      • Fkin
      • Ikin
      • SetRefCoord
      • MoveJoint
      • MoveJointx
      • MoveLine
      • MoveCircle
      • MoveSplineJoint
      • MoveSplineTask
      • MoveBlending
      • MoveSpiral
      • MovePeriodic
      • MoveWait
      • MovePause
      • MoveResume
      • MoveStop
      • Jog
      • JogMulti
      • CheckMotion
      • ChangeOperationSpeed
      • EnableAlterMotion
      • AlterMotion
      • DisableAlterMotion
      • SetSingularityHandling
      • MoveHome
    • Real-time Services
      • ConnectRtControl
      • DisconnectRtControl
      • GetRtControlInputDataList
      • GetRtControlInputVersionList
      • GetRtControlOutputDataList
      • GetRtControlOutputVersionList
      • ReadDataRt
      • SetAccjRt
      • SetAccxRt
      • SetRtControlInput
      • SetRtControlOutput
      • SetVeljRt
      • SetVelxRt
      • StartRtControl
      • StopRtControl
      • WriteDataRt
    • system Services
      • GetRobotMode
      • SetRobotMode
      • GetRobotSystem
      • SetRobotSystem
      • GetRobotSpeedMode
      • SetRobotSpeedMode
      • SetSafeStopResetType
      • SetSafetyMode
      • GetCurrentPose
      • GetLastAlarm
      • ChangeCollisionSensitivity
      • GetRobotState
      • ServoOff
      • SetRobotControl
    • tcp Services
      • ConfigCreateTcp
      • ConfigDeleteTcp
      • GetCurrentTcp
      • SetCurrentTcp
    • tool Services
      • ConfigCreateTool
      • ConfigDeleteTool
      • GetCurrentTool
      • SetCurrentTool
      • SetToolShape
  • Additional Resources
    • Python API
    • External Links
  • Changelog
    • Update Timeline
  • FAQ
    • AMENT_PREFIX_PATH Path Error
      • 1. Error Case
      • 2. Root Cause Analysis
      • 3. Solution
    • DR_init Import Issue
      • 1. Error Case
      • 2. Root Cause Analysis
      • 3. Solution
  • Policy and Notice
    • Legal Notice
      • Limitations of Use
      • Indemnity
      • Limitation of Liability
      • About Doosan Robotics
    • Cookie Policy
      • 1. In General
      • 2. Cookies
      • 3. Contact
    • OSS Notice
    • Terms of Use
      • Limitations of Use
      • Links to External Sites
      • External Links to this Site
      • User-Provided Information
      • Refusal to Collect Unauthorized Email Addresses
      • Laws in the User’s Country
      • Changes
    • Doosan Data Protection Policy
      • 1. In General
      • 2. Types of Personal Data We Process
      • 3. Purposes for Processing
      • 4. Legal Basis for Processing
      • 5. Recipients
      • 6. Location and Transfer
      • 7. Quality Assurance
      • 8. Data Retention
      • 9. Your Rights
      • 10. Withdrawal of Consent
      • 11. Contact
Doosan Robotics ROS2 Manual
  • Policy and Notice
  • Legal Notice
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Note

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