Control Industrial Robot Actuators in Real Time with ROS 2 Control and MoveIt 2

                      
                     
import os
import rclpy
from rclpy.node import Node
from std_msgs.msg import Float64

# Configuration 
ROBOT_ACTUATOR_TOPIC = os.getenv('ROBOT_ACTUATOR_TOPIC', '/robot/actuator')

class RobotActuatorController(Node):
    def __init__(self):
        super().__init__('robot_actuator_controller')
        self.publisher = self.create_publisher(Float64, ROBOT_ACTUATOR_TOPIC, 10)
        self.timer = self.create_timer(0.5, self.publish_actuator_command)  # every 0.5 seconds
        self.get_logger().info('Robot Actuator Controller Initialized.')

    def publish_actuator_command(self):
        command = Float64()  # Create a message of type Float64
        command.data = self.get_actuator_command()  # Get command value
        self.publisher.publish(command)
        self.get_logger().info(f'Publishing actuator command: {command.data}')

    def get_actuator_command(self) -> float:
        # Placeholder for actual command logic
        return 1.0  # Example command value

if __name__ == '__main__':
    try:
        rclpy.init()
        controller = RobotActuatorController()
        rclpy.spin(controller)
    except Exception as e:
        print(f'Error: {e}')
    finally:
        rclpy.shutdown()