Fix Servo tutorials for post-GSoC 2023 API changes#1086
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alltheseas wants to merge 2 commits intomoveit:mainfrom
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Fix Servo tutorials for post-GSoC 2023 API changes#1086alltheseas wants to merge 2 commits intomoveit:mainfrom
alltheseas wants to merge 2 commits intomoveit:mainfrom
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- Fix getNextJointState() signature to include robot_state parameter - Add robot_state initialization after Servo construction - Add trajectory_publisher declaration and #include so example compiles - Add using namespace moveit_servo to Publishing the Output block - Fix JointJogCommand field: joint_names -> names (matches datatypes.hpp) - Fix panda_link7 -> panda_joint7 (was referencing link, not joint) - Fix TwistCommand syntax error (missing closing brace) - Update TwistCommand values to match demo code - Add sliding window and trajectory publishing pattern - Add getStatusMessage() to status section - Add active_subgroup parameter documentation - Add proper RST sub-heading underlines for command type sections - Fix servo_example.launch.py -> demo_ros_api.launch.py display text - Fix typo: Jacobain -> Jacobian - Add trailing period to servo_parameters.yaml sentence - Remove stale "This will be updated soon" note - Fix missing space between sentences in Design overview Addresses moveit#996 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The previous guide referenced JoyToServoPub, servo_example.launch.py, and joystick_servo_example.cpp — all removed during the GSoC 2023 Servo refactoring. Replace with: - Keyboard teleoperation section using built-in servo_keyboard_input - Key mapping table for all supported controls - Gamepad section showing how to use ROS API topics with joy node - Minimal Python translator example for gamepad-to-Servo bridge - Explicit switch_command_type step so Twist commands are processed - Scaling factors on gamepad axes (dimensionless [-1,1] to m/s, rad/s) - Note that ~/ topic names are node-relative - Note that xbox controller image shows old JoyToServoPub layout - All three command topics listed (twist, joint jog, pose) - Explanation of how ServoNode processes commands from any input source Addresses moveit#996 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
getNextJointState()signature (now requiresrobot_stateparam),panda_link7→panda_joint7bug, TwistCommand syntax error, add sliding window publishing pattern, documentactive_subgroupparameter, fix stale launch file referencesJoyToServoPub,servo_example.launch.py, andjoystick_servo_example.cpp. Added keyboard teleoperation with key mapping table, gamepad section with ROS API approach and minimal Python exampleFixes #996
Test plan
Verified against
ros-jazzy-moveit-servo 2.12.4in Docker (ros:rollingimage):ros2 launch moveit_servo demo_ros_api.launch.py— launches cleanly, no errorsservo_keyboard_inputexecutable exists/servo_node/delta_twist_cmds,/servo_node/delta_joint_cmds,/servo_node/pose_target_cmdsros2 service call /servo_node/switch_command_type moveit_msgs/srv/ServoCommandType "{command_type: 1}"— returnssuccess=Truedemo_joint_jog,demo_twist,demo_poseactive_subgroupparameter present on servo node🤖 Generated with Claude Code