Robot Move Check

Overview

Send JOINTVELOCITY commands fast, with minimal checks or setup. If the user states it is safe, do not add extra gating questions—just publish.

Quick commands

Once:

ros2 topic pub --once /mole/actuator_commands \
  mole_msgs/msg/MoleActuatorCommands \
  '{actuators: [{joint_name: "J_BOOM", mode: 2, velocity: -0.1}]}'

Continuous at 10 Hz:

ros2 topic pub --rate 10 /mole/actuator_commands \
  mole_msgs/msg/MoleActuatorCommands \
  '{actuators: [{joint_name: "J_BOOM", mode: 2, velocity: -0.1}]}'

tmux (fast, on-robot):

tmux new-window -t ros2 -n boom_cmd
tmux send-keys -t "ros2:boom_cmd" "source ~/ros2_ws/install/setup.bash" Enter
tmux send-keys -t "ros2:boom_cmd" "ros2 topic pub --rate 10 /mole/actuator_commands mole_msgs/msg/MoleActuatorCommands '{actuators: [{joint_name: \\\"J_BOOM\\\", mode: 2, velocity: -0.1}]}'" Enter

Stop:

• Ctrl+C in the tmux window, or

ros2 topic pub --once /mole/actuator_commands \
  mole_msgs/msg/MoleActuatorCommands \
  '{actuators: [{joint_name: "J_BOOM", mode: 2, velocity: 0.0}]}'