`joint_efforts_dynamic_reconfigure_server`

Small node that spins up a dynamic reconfigure server that can be used to change the panda arm joint efforts and gripper width.

Module Contents

A small node that spins up a dynamic reconfigure server that can be used to

joint_efforts_dynamic_reconfigure_server.ARM_TOPIC = '/panda_arm_joint_effort_controller/command'[source]

joint_efforts_dynamic_reconfigure_server.JOINT_STATES_TOPIC = 'joint_states'[source]

joint_efforts_dynamic_reconfigure_server.GRIPPER_ACTION_NAME = 'franka_gripper/move'[source]

class joint_efforts_dynamic_reconfigure_server.JointEffortsDynamicReconfigureServer[source]

A small node that spins up a dynamic reconfigure server that can be used to change the panda arm joint efforts and gripper width.

Initialise JointEffortsDynamicReconfigureServer object.

callback(config, level)[source]

Dynamic reconfigure callback function.

Parameters:

config (dict) – Dictionary containing the new configuration.
level (int) – Level of the dynamic reconfigure server. Represents the variable that was changed or if -1 that the server was just started.