Rotary servomotor

HRIM defines a rotary servomotor as
A smart actuator that creates a circular movement and allows for precise control of position, velocity, effort and, sometimes acceleration.

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all rotary servomotors will contain a topic referring to the circular movement.

HRIM component model: RotaryServo
/hrim_actuator_rotaryservo_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_actuator_rotaryservo_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_actuator_rotaryservo_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_actuator_rotaryservo_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_actuator_rotaryservo_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_actuator_rotaryservo_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_actuator_rotaryservo_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of,3D model of the HRIM component.
/hrim_actuator_rotaryservo_<instance_id>/specs hrim_actuator_rotaryservo_msgs/msg/SpecsRotaryServo.msg topic (Sub) M Device features.
/hrim_actuator_rotaryservo_<instance_id>/goal hrim_actuator_rotaryservo_msgs/msg/GoalRotaryServo.msg topic (Sub) M Control the position, velocity or/and effort.
/hrim_actuator_rotaryservo_<instance_id>/state hrim_actuator_rotaryservo_msgs/msg/StateRotaryServo.msg topic (Sub) O Motor condition and the reason in case of error.
/hrim_actuator_rotaryservo_<instance_id>/acceleration hrim_actuator_rotaryservo_msgs/msg/GoalAngularAcceleration.msg topic (Sub) O Control the acceleration of the servomotor. The integration of the acceleration characteristic is needed.
/hrim_actuator_rotaryservo_<instance_id>/temperature hrim_sensor_thermometer_msgs/msg/Temperature.msg topic (Sub) O Motor internal temperature. Also informs if there is temperature error. The integration of a temperature sensor is needed.
/hrim_actuator_rotaryservo_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Sub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
Parameters
frame_rate int Hz M Refresh rate.
origin float rad M Zero/Started point.
joint_name string - M Name of the joint, usefull to control robotic amrs.
min_temperature float ºC O Related to Temperature.msg
Minimum operating temperature.
NOTE: Mandatory if Temperature.msg is added.
max_temperature float ºC O Related to Temperature.msg
Maximum operating temperature.
NOTE: Mandatory if Temperature.msg is added.