Servo
The Servo node controls standard (position), continuous (velocity), and linear servos via PWM output channels.
Configuration​
servo:
enabled: true
sensors: ["gripper", "wrist", "elbow"]
gripper:
port: 14
type: "standard"
wrist:
port: 15
type: "continuous"
elbow:
port: 16
type: "linear"
Parameters​
| Parameter | Description |
|---|---|
port | PWM output channel (range 0 – 21) |
type | "standard", "continuous", or "linear" |
Command Ranges​
| Type | Input Range | Description |
|---|---|---|
standard | −150 to 150 | Target position in degrees |
continuous | −100 to 100 | Speed percentage |
linear | 0 to 100 | Extension percentage |
Topics​
Subscribed​
| Topic | Type | Description |
|---|---|---|
/<name>/cmd | std_msgs/Float64 | Target value (range depends on servo type) |
Published​
| Topic | Type | Description | Rate |
|---|---|---|---|
/<name>/state | std_msgs/Float64 | Last commanded value | 20 Hz |
Service​
Service name: /<name>/set_servo
Type: studica_control/SetData
Pass the target value in request.initparams.speed.