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 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***