= Convenient Armadillo2 ROS services =

Armadillo2 has some convenient ROS services that can simplify some tasks.

 * '''/services/dxl_torque''' - allows to maintain the current arm and head state by putting the motors in torque state.

 * '''/services/lift_arm''' - if the arm is in driving state, this service lifts the arm a little bit to allow [[http://moveit.ros.org/|Moveit!]] to plan new arm trajectories.  

 * '''/services/open_gripper''' - this services open the griper fingers to 5 cm gap. 

 * '''/services/pan_tilt_mover''' - this services allows to move the head to the desired angle (both pan and tilt). 

 * '''/services/shutdown''' - this services prepares the robot for shutdown by releasing the arm and head motors torque. '''***Pay attention to the arm movement after calling this service***'''




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