游戏手柄遥控越疆协作机器人[四]

游戏手柄遥控越疆协作机器人[四]

• [一、机械臂的service list](#一、机械臂的service list)
• [二、/dobot_bringup_ros2/srv/MovL 的接口](#二、/dobot_bringup_ros2/srv/MovL 的接口)

一、机械臂的service list

ros2 service list
/compute_cartesian_path
/dobot_bringup_ros2/describe_parameters
/dobot_bringup_ros2/get_parameter_types
/dobot_bringup_ros2/get_parameters
/dobot_bringup_ros2/list_parameters
/dobot_bringup_ros2/set_parameters
/dobot_bringup_ros2/set_parameters_atomically
/dobot_bringup_ros2/srv/AI
/dobot_bringup_ros2/srv/AO
/dobot_bringup_ros2/srv/AOInstant
/dobot_bringup_ros2/srv/AccJ
/dobot_bringup_ros2/srv/AccL
/dobot_bringup_ros2/srv/Arc
/dobot_bringup_ros2/srv/BrakeControl
/dobot_bringup_ros2/srv/CP
/dobot_bringup_ros2/srv/CalcTool
/dobot_bringup_ros2/srv/CalcUser
/dobot_bringup_ros2/srv/Circle
/dobot_bringup_ros2/srv/ClearError
/dobot_bringup_ros2/srv/DI
/dobot_bringup_ros2/srv/DIGroup
/dobot_bringup_ros2/srv/DO
/dobot_bringup_ros2/srv/DOInstant
/dobot_bringup_ros2/srv/DisableRobot
/dobot_bringup_ros2/srv/DoGroup
/dobot_bringup_ros2/srv/DragSensivity
/dobot_bringup_ros2/srv/EmergencyStop
/dobot_bringup_ros2/srv/EnableRobot
/dobot_bringup_ros2/srv/EnableSafeSkin
/dobot_bringup_ros2/srv/GetAO
/dobot_bringup_ros2/srv/GetAngle
/dobot_bringup_ros2/srv/GetCoils
/dobot_bringup_ros2/srv/GetCurrentCommandId
/dobot_bringup_ros2/srv/GetDO
/dobot_bringup_ros2/srv/GetDOGroup
/dobot_bringup_ros2/srv/GetErrorID
/dobot_bringup_ros2/srv/GetHoldRegs
/dobot_bringup_ros2/srv/GetInBits
/dobot_bringup_ros2/srv/GetInRegs
/dobot_bringup_ros2/srv/GetInputBool
/dobot_bringup_ros2/srv/GetInputFloat
/dobot_bringup_ros2/srv/GetInputInt
/dobot_bringup_ros2/srv/GetOutputBool
/dobot_bringup_ros2/srv/GetOutputFloat
/dobot_bringup_ros2/srv/GetOutputInt
/dobot_bringup_ros2/srv/GetPose
/dobot_bringup_ros2/srv/GetStartPose
/dobot_bringup_ros2/srv/InverseKin
/dobot_bringup_ros2/srv/ModbusClose
/dobot_bringup_ros2/srv/ModbusCreate
/dobot_bringup_ros2/srv/ModbusRTUCreate
/dobot_bringup_ros2/srv/MovJ
/dobot_bringup_ros2/srv/MovJIO
**/dobot_bringup_ros2/srv/MovL**
/dobot_bringup_ros2/srv/MovLIO
/dobot_bringup_ros2/srv/MoveJog
/dobot_bringup_ros2/srv/Pause
/dobot_bringup_ros2/srv/PositiveKin
/dobot_bringup_ros2/srv/PowerOn
/dobot_bringup_ros2/srv/RelJointMovJ
/dobot_bringup_ros2/srv/RelMovJUser
/dobot_bringup_ros2/srv/RelMovLTool
/dobot_bringup_ros2/srv/RelMovLUser
/dobot_bringup_ros2/srv/RobotMode
/dobot_bringup_ros2/srv/RunScript
/dobot_bringup_ros2/srv/ServoJ
/dobot_bringup_ros2/srv/ServoP
/dobot_bringup_ros2/srv/SetBackDistance
/dobot_bringup_ros2/srv/SetCoils
/dobot_bringup_ros2/srv/SetCollisionLevel
/dobot_bringup_ros2/srv/SetHoldRegs
/dobot_bringup_ros2/srv/SetOutputBool
/dobot_bringup_ros2/srv/SetOutputFloat
/dobot_bringup_ros2/srv/SetOutputInt
/dobot_bringup_ros2/srv/SetPayload
/dobot_bringup_ros2/srv/SetPostCollisionMode
/dobot_bringup_ros2/srv/SetSafeSkin
/dobot_bringup_ros2/srv/SetSafeWallEnable
/dobot_bringup_ros2/srv/SetTool
/dobot_bringup_ros2/srv/SetTool485
/dobot_bringup_ros2/srv/SetToolMode
/dobot_bringup_ros2/srv/SetToolPower
/dobot_bringup_ros2/srv/SetUser
/dobot_bringup_ros2/srv/SpeedFactor
/dobot_bringup_ros2/srv/StartDrag
/dobot_bringup_ros2/srv/StartPatht
**/dobot_bringup_ros2/srv/Stop**
/dobot_bringup_ros2/srv/StopDrag
/dobot_bringup_ros2/srv/StopMoveJog
/dobot_bringup_ros2/srv/Tool
/dobot_bringup_ros2/srv/ToolAI
/dobot_bringup_ros2/srv/ToolDI
/dobot_bringup_ros2/srv/ToolDO
/dobot_bringup_ros2/srv/ToolDOInstant
/dobot_bringup_ros2/srv/User
/dobot_bringup_ros2/srv/VelJ
/dobot_bringup_ros2/srv/VelL
/get_planner_params
/joystick_teleop/describe_parameters
/joystick_teleop/get_parameter_types
/joystick_teleop/get_parameters
/joystick_teleop/list_parameters
/joystick_teleop/set_parameters
/joystick_teleop/set_parameters_atomically
/query_planner_interface
/set_planner_params

二、/dobot_bringup_ros2/srv/MovL 的接口

ros2 service type /dobot_bringup_ros2/srv/MovL
dobot_msgs_v4/srv/MovL


ros2 interface show dobot_msgs_v4/srv/MovL
bool mode
float64 a
float64 b
float64 c
float64 d
float64 e
float64 f
string[] param_value

string robot_return
int32 res