--로봇 연결--

#virtual
ros2 launch  dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 port:=12345 model:=m0609

#real
ros2 launch  dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.1.100 port:=12345 model:=m0609

# --티칭모드--(파란불)
ros2 service call  /dsr01/system/set_robot_mode dsr_msgs2/srv/SetRobotMode robot_mode:\\ 0

# --자동모드--(파->흰) 
ros2 service call  /dsr01/system/set_robot_mode dsr_msgs2/srv/SetRobotMode robot_mode:\\ 1

# mini jog
ros2 run dsr_rokey2 mini_jog

ros2 run cock_bot start_motion
ros2 run cock_bot put_shaker
ros2 run cock_bot close_cap
ros2 run cock_bot get_shaker
ros2 run cock_bot shaking
ros2 run cock_bot put_shaker2
ros2 run cock_bot open_cap
ros2 run cock_bot pour_drink

# ros2 노드 실행
ros2 run cock_bot cocktail_make
ros2 run cock_bot state_check

ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'order:{메뉴명}'"
ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'pause'"
ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'resume'"
ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'stop'"
# 상태 확인
ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'status'"
# 수동 복구
ros2 topic pub --once /dsr01/cocktail/command std_msgs/String "data: 'recover'"

# UI 접속
npm run dev
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

ros2 topic list
/clicked_point
/dsr01/alter_motion_stream
/dsr01/dsr_controller2/transition_event
/dsr01/dynamic_joint_states
/dsr01/error
/dsr01/joint_state_broadcaster/transition_event
/dsr01/joint_states
/dsr01/robot_description
/dsr01/robot_disconnection
/dsr01/servoj_rt_stream
/dsr01/servoj_stream
/dsr01/servol_rt_stream
/dsr01/servol_stream
/dsr01/speedj_rt_stream
/dsr01/speedj_stream
/dsr01/speedl_rt_stream
/dsr01/speedl_stream
/dsr01/torque_rt_stream
/initialpose
/move_base_simple/goal
/parameter_events
/rosout
/tf
/tf_static

/dsr01/system/get_robot_state
/dsr01/system/get_robot_system
ros2 service call /dsr01/system/get_robot_state dsr_msgs2/srv/GetRobotState "{}"
ros2 service call /dsr01/system/get_robot_sytem dsr_msgs2/srv/GetRobotSystem "{}"