• launch/device_bringup.launch
  • • device_id — The ID of the device [1, 128].
    • device_name — The unique device name used in the yaml controller configurations.
    • device_type — The type of the device [qbhand, qbmove, qbclaw, ...].
    • get_currents [default: true] — Choose whether or not to retrieve current measurements from the device.
    • get_positions [default: true] — Choose whether or not to retrieve position measurements from the device.
    • get_distinct_packages [default: false] — Choose whether or not to retrieve current and position measurements from the device in two distinct packages.
    • max_repeats [default: 3] — The maximum number of consecutive repetitions to mark retrieved data as corrupted.
    • set_commands [default: true] — Choose whether or not to send command positions to the device.
    • set_commands_async [default: false] — Choose whether or not to send commands without waiting for ack.
    • activate_on_initialization [default: false] — Choose whether or not to activate the motors on node startup.
    • rescan_on_initialization [default: false] — Choose whether or not to rescan the serial ports on node startup.
    • use_fake_measurement_mode [default: false] — Choose whether or not to use previous command values instead of device measurements.
    • robot_name — The unique robot name.
    • robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
    • use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
• launch/device_controllers_bringup.launch
  • • device_name — The unique device name used in the yaml controller configurations.
    • device_type — The type of the device [qbhand, qbmove, qbclaw, ...].
    • robot_namespace — The unique robot namespace.
• launch/robot_bringup.launch
  • • device_name [default: ] — The unique device name used in the yaml controller configurations (also in the urdf if not already specified there).
    • control_duration [default: 0.01] — The duration of the control loop [s].
    • robot_hardware — The robot hardware interface names, e.g. [device1, device2, ...].
    • robot_name — The unique robot name.
    • robot_namespace [default: $(arg robot_name)] — The unique robot namespace.
    • robot_package — The base package name prefix for the robot configurations [urdf, rviz, ...].
    • source_list [default: [$(arg device_name)/joint_states]] — The joint_states source list for the joint_state_publisher.
    • use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
    • use_rviz [default: true] — Choose whether or not to use rviz.
    • use_gazebo [default: false] — Choose whether or not to use Gazebo instead of real devices.
    • use_interactive_markers [default: $(arg use_rviz)] — Choose whether or not to use interactive markers on rviz.
    • use_joint_limits [default: false] — Choose whether or not to use the robot joint limits.
    • use_waypoints [default: false] — Choose whether or not to use the waypoint references.
    • use_without_robot [default: true] — Choose whether or not to bring up robot description (e.g. when using with other robots is better to set it apart).
• launch/robot_control_node_bringup.launch
  • • control_duration [default: 0.01] — The duration of the control loop [s].
    • robot_activate_control [default: true] — Choose whether to activate robot_control or not (e.g. for sensor devices).
• launch/robot_description_bringup.launch
  • • device_name [default: ] — The unique device name used in the urdf configurations (if not specified directly in the urdf).
    • frequency [default: 100] — The frequency of the two state publishers.
    • robot_name — The unique robot name.
    • robot_package — The base package name prefix for the robot configurations [urdf, rviz, ...].
    • source_list [default: [joint_states]] — The joint_states source list for the joint_state_publisher.
    • use_rviz [default: true] — Choose whether or not to use rviz.
• launch/robot_opt_bringup.launch
  • • robot_name — The unique robot name.
    • robot_package — The base package name prefix for the robot configurations [urdf, rviz, ...].
    • use_controller_gui [default: false] — Choose whether or not to use the controller GUI.
    • use_interactive_markers [default: false] — Choose whether or not to use interactive markers on rviz.
    • use_joint_limits [default: false] — Choose whether or not to use the robot joint limits.
    • use_waypoints [default: false] — Choose whether or not to use the waypoint references.

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