This node handles the communication between MAB's MD80 drives in ROS environment. The node was designed to act as operational endpoint - to control the drives and get information from them, thus it is not capable of configuring the drives, for this use MDtool.

The node normally communicates via services for setup, and via topics for regular data transfers. Services are:

• /add_md80s
• /zero_md80s
• /set_mode_md80s
• /enable_md80s
• /disable_md80s

Topics subscribed by the node are:

• /md80/motion_command
• /md80/impedance_command
• /md80/velocity_pid_command
• /md80/position_pid_command

Topic published by the node is:

• /md80/joint_states

Please find a detailed startup guide in the MD80 x CANdle manual