Services

Service	Type	Description
robot_power	rby1_msgs/StateOnOff	Power ON/OFF. parameters: "all", "48v", "5v", etc.
robot_servo	rby1_msgs/StateOnOff	Servo ON/OFF. parameters: "all", joint/part names
tool_flange_power	rby1_msgs/StateOnOff	Set tool flange voltage. parameters: "12v", "24v", "48v" (ON) or "" (OFF)
gravity_compensation	rby1_msgs/GravityCompensation	Enable/disable gravity compensation per body part
cancel_control	std_srvs/Trigger	Cancel all active motion commands immediately
get_cartesian_pose	rby1_msgs/GetCartesianPose	Query Cartesian transform between two links
control_manager_command	rby1_msgs/ControlManagerCommand	Send CMD_ENABLE / CMD_DISABLE / CMD_RESET to the Control Manager
stream_control	rby1_msgs/StateOnOff	Enable/disable persistent streaming mode with 10-minute hold times (state=true to enable, state=false to disable)
hardware_control	rby1_msgs/StateOnOff	Claim (state=true) or release (state=false) hardware control rights for direct controller managers
set_trajectory_impedance	rby1_msgs/SetTrajectoryImpedance	Enable or disable impedance control mode for the trajectory execution action server (follow_joint_trajectory)

ControlManagerCommand constants

Constant	Value	Description
CMD_NONE	0	No operation
CMD_ENABLE	1	Enable the Control Manager (start position hold)
CMD_DISABLE	2	Disable the Control Manager (transition to IDLE)
CMD_RESET	3	Reset MAJOR/MINOR fault and return to IDLE
CMD_UNLIMIT	4	Enable the Control Manager, ignoring its range of motion limits.

[!IMPORTANT]

• ⚠️ Calling cancel_control while using stream-based control will also close the stream. After cancel_control, you must re-open the stream before sending further cmd_vel commands. To cancel only the current motion without closing the stream, use the action cancel (see Example 13).

• The current stream open/close state is reflected in the robot_state topic as robot_stream_state (bool).

[!WARNING] Behavior of robot_joint and robot_cartesian Actions under Active Stream: When persistent streaming is active (stream_control is true), the single joint (robot_joint) and Cartesian (robot_cartesian) commands are also routed through the command stream (stream_handler_).

• In this mode, these actions will return a success (succeed) status immediately after sending the command, without waiting for the robot to reach the target position or providing intermediate feedback.

• Therefore, target completion checking must be done independently by monitoring the joint state topics.

Joint/Cartesian Action Behavior Characteristics When Persistence Stream is Enabled:

• When robot_joint and robot_cartesian action commands are sent while the persistence stream is turned on, those commands are transmitted through the stream channel.

• In this case, it returns immediately without waiting for the robot to reach the target position; therefore, the client side must monitor whether the target has been reached via a separate joint status topic.

⚙️ = controlled by the corresponding flag in driver_parameters.yaml

[!WARNING] Impedance configuration during active stream control: The robot command stream fixes the control mode configuration (e.g. position control vs impedance control) of the command instances when the stream is first opened.

• Therefore, you cannot configure trajectory impedance while persistent stream control is active (stream_control is true).

• The /set_trajectory_impedance service will fail and return success: false if called under an active stream.

• To apply trajectory impedance changes, you must first deactivate the stream (call /stream_control with state: false), configure the impedance via /set_trajectory_impedance, and then reactivate the stream (call /stream_control with state: true).