.. rosservice.rst

==========
rosservice
==========
-----
Motor
-----

+-----------+----------------+
|  state:   | Motor power is |
+===========+================+
|   true    |      ON        |
+-----------+----------------+
|   false   |      OFF       |
+-----------+----------------+

#. Get the motor power state
   ::

      $ rosservice call /cobotta/get_motor_state "{}"

#. Turn ON/OFF the motor power
   ::

      $ rosservice call /cobotta/set_motor_state "state: true"

-----
Brake
-----

+-----------+----------------+
|  state:   |   Brake is     |
+===========+================+
|   true    |     Lock       |
+-----------+----------------+
|   false   |    Release     |
+-----------+----------------+

#. Get the brake state
   ::

      $ rosservice call /cobotta/get_brake_state "{}"

#. Set the brake state
   ::

      $ rosservice call /cobotta/set_brake_state "state: [false, false, false, false, false, false]"

---
LED
---

+-------+--------+-------+-------------+
|  red: | green: | blue: | blink_rate: |
+=======+========+=======+=============+
| 0-255 |  0-255 | 0-255 |    0-255    |
+-------+--------+-------+-------------+

+-------------+------------------------+
| blink_rate: |      Description       |
+=============+========================+
|      0      | LED is always ON       |
+-------------+------------------------+
|     255     | LED is slowly blinking |
+-------------+------------------------+

.. attention::
   If you set the blink_rate small number, LED blinks quickly.
   Fast blinking will affect on your body.

::

   $ rosservice call /cobotta/set_LED_state  "{red: 255, green: 255, blue: 255, blink_rate: 255}"

-----
Error
-----

#. Clear all errors

   Clear errors except for FATAL error::

     $ rosservice call /cobotta/clear_error

   This command is the same as both ``/cobotta/clear_robot_error`` and
   ``/cobotta/clear_safe_state``.

   .. note::
      When the motor power is ON, this command causes ``Bus voltage failure``.
      So we recommend not to execute this command when the motor is ON.
      If ``Bus voltage failure`` occurs, you can clear it by executing
      ``rosservice call /clear_robot_error``.

#. Clear robot errors

   .. _clear_robot_error:

   ::

      $ rosservice call /cobotta/clear_robot_error

#. Clear a safe state

   .. _clear_safe_state:

   ::

      $ rosservice call /cobotta/clear_safe_state

   After executing this command and robot errors don't occur,
   you are able to turn on the motor power.

   .. note::
      When the motor power is this command causes ``Bus voltage failure``.
      Please refer to the note of ``/cobotta/clear_error``.

#. FATAL error

   | If a FATAL error occurs, quit all applications and shutdown Ubuntu.
   | When the COBOTTA's LED light has gone out,
   | turn off the COBOTTA's power swtich.
   |
   | So restart COBOTTA.

..
.. CALSET
..
.. include:: /command_reference/rosservice_calset.rst