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                # ROS接口列表 ## Topic ### 機械臂的關節狀態接口 - 接口: /joint_states - ROS 接口類型: Topic - 接口內容: sensor_msgs/JointState ### 硬件信息接口 - 接口: /gauss/hardware_status - ROS 接口類型: Topic - 接口內容: gauss_msgs/HardwareStatus ### 機器人的空間狀態接口 - 接口: /gauss/robot_state - ROS 接口類型: Topic - 接口內容: gauss_msgs/RobotState ### 示教模式狀態接口 - 接口: /gauss/learning_mode - ROS 接口類型: Topic - 接口內容:std_msgs/Bool ## Service ### 示教模式切換接口 - 接口: /gauss/activate_learning_mode - ROS接口類型: Service - 接口內容: gauss_msgs/SetInt ### 校準接口 - 接口: /gauss/calibrate_motors - ROS 接口類型: Service - 接口內容: gauss_msgs/SetInt ### 重新校準接口 - 接口:/gauss/request_new_calibration - ROS 接口類型: Service - 接口內容: gauss_msgs/SetInt ### 機械臂停止接口 - 接口: /gauss/commander/stop_command - ROS接口類型: Service - 接口內容: std_srvs/SetBool ### 更換工具接口 - 接口: /gauss/change_tool - ROS接口類型: Service - 接口內容: gauss_msgs/SetInt ## Action ### 運動規劃接口 - 接口: /gauss/commander/robot_action - ROS 接口類型: Action - 接口內容: gauss_msgs/RobotMoveAction ### 工具控制接口 - 接口: /gauss/commander/robot_action - ROS 接口類型: Action - 接口內容: gauss_msgs/RobotMoveAction
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