RT Device CLI#
Command line interface for managing the RT devices of the rt_device_manager. The pal rt_device command includes the following verbs:
list#
The list verb is used to display a list of all loaded devices along with their currently configured status. It will display up to three tables with the information of Actuators, Sensors and IOS respectively. This command does not require any arguments.
pal rt_device list
info#
The info verb is used to show detailed information about a single RT device: its metadata (name, device type, plugin, group, prefix and dummy status) and its configuration parameters.
Arguments:
devices: The name of the device to show information about.
pal rt_device info <device>
Example output:
---------------------------------------------------------------------------
| Metadata: | Value: |
---------------------------------------------------------------------------
| Name | leg_left_5_actuator |
| Device Type | actuator |
| Plugin | pal_ethercat_grassland_actuator/EthercatGrasslandActuator |
| Group | |
| Prefix | leg_left |
| Dummy | No |
---------------------------------------------------------------------------
-------------------------------------------------------
| Parameters: | Value: |
-------------------------------------------------------
| absolute_encoder_resolution | -4096 |
| absolute_encoder_type | rotary |
| acceleration_limit | 10.0 |
| ball_screw_efficiency | 0.9 |
| calibration_offset | 0.0 |
| current_limit | 10.0 |
| deceleration_limit | 10.0 |
| force_sensor_compression_scaling | 0.9978 |
| force_sensor_range | 2100.0 |
| force_sensor_sign | 1.0 |
| force_sensor_tension_scaling | 0.9929 |
| incremental_encoder_reducer | 0.005 |
| incremental_encoder_resolution | 524288 |
| incremental_encoder_type | linear |
| lower_bound | -0.74 |
| motor_torque_constant | 0.105 |
| mounting_offset | 0.0 |
| serial_number | 7097574 |
| slave_alias | 0 |
| slave_position | 10 |
| slave_product | 268448001 |
| slave_vendor | 11563461 |
| upper_bound | 0.74 |
| use_absolute_encoder_for_initialization | False |
-------------------------------------------------------
set_dummies#
The set_dummies verb is used to switch a list of devices to dummy status.
Arguments:
devices: The list of device names to switch to dummy.--dry-run: Executes a dry run, without applying the changes. Useful for simulating what the behavior would be without actually applying it.--quiet,-q: Quiet output, just showing if the full operation succeeded or not.
pal rt_device set_dummies <device1> <device2> <device3> [--dry-run] [-q]
unset_dummies#
The unset_dummies verb is used to restore a list of devices to their normal state by removing their dummy status.
Arguments:
devices: The list of device names to remove from dummy.--dry-run: Executes a dry run, without applying the changes. Useful for simulating what the behavior would be without actually applying it.--quiet,-q: Quiet output, just showing if the full operation succeeded or not.
pal rt_device unset_dummies <device1> <device2> <device3> [--dry-run] [-q]