Current Robokit Publishers, Subscribers and Services

Essential Information for ROS-side Customization

RoboKit Communications Graph

Bio IK Solver node

Published Topics

• Control Message : For controlling the robot arm, extend_bio_ik publishes trajectory control message of type FollowJointTrajectoryActionGoal

  • FollowJointTrajectoryActionGoal contains the JointTrajectory data.

  • Using the points data part of the JointTrajectory the following information could be sent

    • Joint Positions

    • Joint Velocities

• Arm Status Message : /extend_arm_response for arm_response(bio_ik_response), joint_states, end_effector and other interactive targets pose in the real robot using message type, ArmResponse.msg

Subscribed Topics

• IK Target : /extend_control_command is subscribed for the inverse kinematics to generate control message, and contains the end effector and other interactive target poses and operation mode information using message type ArmControl.msg

ROSBridge Websocket Node (Data from AMAS VR app)

Published Topics

• IK Target : /extend_control_command contains the end effector and other interactive target poses and operation mode using message type ArmControl.msg

• Gripper Control : /extend_gripper_command for the gripper control using message type, GripperControl.msg

  • Analog Data

    • Field : gripperAnalog

    • Range : 0 (Open) to 1 (Close)

  • Digital Data

    • Field : gripperDigital

    • Value : 0 for Open 1 for Close

• Navigation Control : /extend_vel for sending the velocity command using the message type Twist

• Arm Specific Topics

  • For Tiago

    • /tab_vel for sending the velocity command using the message type Twist

    • /head_controller/point_head_action/goal for sending the head control, look at target using the message type PointHeadActionGoal

Subscribed Topics

• Arm Status Message : /extend_arm_response for arm_response(bio_ik_response), joint_states, end_effector and other interactive targets pose in the real robot using message type ArmResponse.msg

• Arm Specific Topics :

  • For UR

    • /ur_hardware_interface/safety_mode for the robot arm errors using SafetyMode.msg

  • For xArm

    • /xarm/xarm_states for the robot arm errors using RobotMsg.msg

    • /xarm/uf_ftsensor_ext_states for the force torque sensor value using type WrenchStamped

  • For Tiago

    • /sonar_base for the ultrasound sensor values of type, Range

    • /scan for the laser scan data of type, LaserScan

  • For Dobot

    • /dobot_v4_bringup/msg/FeedInfo for the robot arm errors using FeedInfo

Arm Specific Services

• System Info Service for getting the device id and model

• For xArm

  • /xarm/ft_sensor_enable to enable the force torque sensor using SetInt16.srv

  • /xarm/set_mode to set the xarm mode using SetInt16.srv

  • /xarm/set_state to set xarm state using SetInt16.srv

  • /xarm/clear_err to clear xarm errors using ClearErr.srv

• For UR

  • /ur_hardware_interface/dashboard/unlock_protective_stop to unlock protective stop after collision using Trigger Service.

  • /ur_hardware_interface/dashboard/stop to stop the program using Trigger Service.

  • /ur_hardware_interface/dashboard/program_state to get the program state (playing, paused or stop) using GetProgramState.srv

  • /ur_hardware_interface/dashboard/play to start the program using Trigger Service.

• For Dobot

  • /dobot_v4_bringup/srv/GetErrorID to get the dobot specific Error ID using GetErrorID.srv

  • /dobot_v4_bringup/srv/ClearError to clear dobot errors using ClearError.srv

  • /dobot_v4_bringup/srv/EnableRobot to enable the dobot robot using EnableRobot.srv