User Guide
v7.6
v7.6
  • Extend Robotics User Manual
  • introduction
    • AMAS Overview
    • Compatible XR Systems
    • Supported Robots
      • Robots
        • Ufactory
        • Universal Robots
        • Dobot
        • Pal Robotics
        • Mitsubishi Electric
      • Accessories
        • Robotiq
        • ROBOTIS
        • Ufactory
    • Choosing 3D Sensors
      • Limitations
      • Sensor Types
      • Visual Comparison
    • Typical Network Connection
    • Specifications
    • Release Notes: AMAS V7.6
  • getting started
    • Getting Started with AMAS
    • Navigating Through the User Guide
  • AMAS VR Application
    • Setup Oculus Application
    • Download AMAS
      • Running the Application
      • Home Scene Arrival
    • Control Panel
      • Floating Keyboard
    • Interactions Modes
      • View Adjust Mode
      • Robot Control Mode
      • Utility Functions
      • Robot Rescue
    • Hand Tracking
    • Passthrough Mode
    • Manage multiple devices
      • RoboKit Addition and Configuration
      • Loading RoboKit
      • SenseKit Addition and Configuration
        • 2D - 3D fusion
      • Loading SenseKit
      • AudioKit Addition and Configuration
      • Loading AudioKit
      • Configuration Bundles
    • Hand-eye Calibrations
      • Calibration Prerequisite
      • SenseKit to Robot Calibration
      • SenseKit to SenseKit Calibration
      • Manual Sensekit Calibration
      • Manual RoboKit Calibration
    • Motion Playback
      • Creating a Recording
      • Load a Recorded Motion
      • Replay a Recorded Motion
    • Visual Haptic
      • Force Torque Calibration
    • Speech Recognition
    • UR Program Change
    • Shutdown Instructions
    • Over-the-Air Firmware Updates
  • SenseKit
    • Introduction
    • Components
      • Pre-requisite SenseKit Components
      • Shipped SenseKit Components
    • Mounting Options
    • Setup Instructions
    • Running Instructions
    • SenseKit IP Configuration
    • Calibration Instructions
    • SenseKit Manual Firmware Upgrade / Install
    • Shutdown Instructions
  • RoboKit
    • Introduction
    • Components
      • Pre-requisite RoboKit Components
      • Shipped RoboKit Components
    • Initial Setup Instructions
    • Instructions for Starting RoboKit
    • RoboKit IP Configuration
    • RoboKit Manual Firmware Upgrade / Install
    • Shutdown Instructions
    • Safety Protocols
  • API
    • RoboKit
      • Current Robokit Publishers, Subscribers and Services
      • Gripper Customizations
      • Message and Service Definitions
    • SenseKit
  • Other Information
    • Troubleshooting and Logs Gathering
    • Customized Hardware Integrations
    • Remote Demonstration Requirements
    • Backward Compatibility
  • Guides
    • PAL TIAGo
      • Mobile Base, Arm and Torso Control
      • 3D Sensor
      • Additional Sensor Data Visualization
      • First Person View Mode
      • Take Home Functionality
      • Audio
      • Bundle
  • Downloads
    • OTA
    • Calibration Board
Powered by GitBook
On this page

Was this helpful?

  1. API

RoboKit

Application Programming Interfaces for RoboKit

PreviousSafety ProtocolsNextCurrent Robokit Publishers, Subscribers and Services

Was this helpful?

RoboKit

Firmware is packaged as .snap communicating with 3rd party rosnodes through ROS1 protocol. Interfacable functions including:

  • Multiple targets for robotic arm inverse kinematics functions (UR modules only require single end of arm pose target)

  • Robot arm state including joint angle, errors

  • Control of end effector state

  • Velocity control of the base_link (not available on UR models)

  • Current Robokit Publishers, Subscribers and Services

  • Gripper Customizations

More information about the ROS concept can be found here:

http://wiki.ros.org/ROS/Concepts