Danger Zone

Owned by Rafael Hostettler
May 28, 2024
1 min read

Here’s a list of what you should NOT do. We aim to fix the issues in the coming releases.

  1. Do not send any commands to the head & shoulders muscles when the corresponding body part is initialized. This means DON’T click MOTOR CONFIG, RELAX or TENSE buttons in Dashboard or send command line commands. You can see if a body part is initialized on the Dashboard or by running:

    rosparam get /initialized


    Why? CARDSflow is constantly sending motor commands (in most cases in motor POSITION control mode) and assumes that no other process has changed the control mode.
    What can happen? A body part will stop responding to joint commands and the muscles might move in a rapid and uncontrolled manner.

    If you wish to de-initialize a body part simply run

    rosparam set /initialized/shoulder_left false

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