MD Node

The MD ROS2 Node provides operational control and telemetry for MAB Robotics MD drive controllers.
It is intended as a runtime interface and does not perform device configuration.
For configuration, use CANdleTool.

MD Node Services

The following services provide runtime control over MD drive controllers.

Service Name	Description	Service Type
/md/add_mds	Registers MD drives in the system	candle_ros2/AddDevices
/md/enable	Enables selected registered drives	candle_ros2/Generic
/md/disable	Disables selected registered drives	candle_ros2/Generic
/md/set_mode	Changes the operating mode	candle_ros2/SetMode
/md/zero	Performs a zeroing operation	candle_ros2/Generic

Set Mode Service Details

The /md/set_mode service accepts requests of type candle_ros2/SetMode, field mode is a string that can take one of the following values:

• "IMPEDANCE"

• "POSITION_PID"

• "VELOCITY_PID"

• "RAW_TORQUE"

MD Node Topics

Subscribed Topics

Topic Name	Description	Message Type
/md/motion_command	General motion command input	candle_ros2/MotionCmd
/md/position_command	Position PID controller commands	candle_ros2/PositionPidCmd
/md/velocity_command	Velocity PID controller commands	candle_ros2/VelocityPidCmd
/md/impedance_command	Impedance PD controller commands	candle_ros2/ImpedanceCmd

Published Topics

Topic Name	Description	Message Type
/md/joint_states	Joint state feedback for all MD drives	sensor_msgs/JointState