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Using a ROS Node

You can update the controller parameters from your node. Here is a simple example:

   1 import roslib; roslib.load_manifest('sr_hand')
   2 import rospy
   3 
   4 from sr_robot_msgs.msg import joint, sendupdate, contrlr
   5 
   6 def talker():
   7     pub2 = rospy.Publisher('contrlr', contrlr)
   8     data_to_send = ["p:0","i:0"]
   9     pub2.publish( contrlr( contrlr_name="smart_motor_ff2" , 
  10                            list_of_parameters = data_to_send, 
  11                            length_of_list = len(data_to_send) ) )
  12 
  13 if __name__ == '__main__':
  14     try:
  15         talker()
  16     except rospy.ROSInterruptException: pass

In the data_to_send vector, you have a list of possible parameters you can modify. The description of those parameters is made in the standard doc you received with the hardware, describing them is out of the scope for this tutorial.

Using the Command Line

You can publish the contrlr message using rostopic:

$ rostopic pub /srh/contrlr sr_robot_msgs/contrlr "{contrlr_name: smart_motor_ff2, list_of_parameters: [\"p:0\",\"i:0\"], length_of_list: 1}"

2023-10-28 13:05