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davidt315
approved these changes
Apr 14, 2026
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Matching how we think of joints but being explicit, we enable ability to send position, velocity, or effort to a specific vehicle joint.
The idea is that this service can be created for each similarly controllable joint. When able, the vehicle will run the command as requested for the amount of time (do 0.5 effort for 30seconds type commands become enabled). It also binds PID type commands (position and velocity) under some timeout (set to unused if no want to use)
Position, Velocity, Effort can be commanded
Success returns whether vehicle will attempt to implement or not
Error explains why if not