Programming Guide

This guide explains how to write your own applications with the Trossen Arm driver. Start with the concepts to understand the driver, walk through the structure of a script, then dive into the full C++ and Python API reference.

• Concepts - Driver lifecycle, modes, motion commands, frames and units, reading state, and error handling.

• Writing a Script - The anatomy of a control script, annotated end to end.

• Trossen Arm Driver API - The complete C++ and Python API reference.

For ready-to-run examples, see the Demo Scripts catalog.