Joint Positions
Joint Velocities
Analog Data
Field : gripperAnalog
Range : 0 (Open) to 1 (Close)
Digital Data
Field : gripperDigital
Value : 0 for Open 1 for Close
Arm Specific Topics
For Tiago
Arm Specific Topics :
For Avatar Torso
For UR
For xArm
For Tiago
For Dobot
System Info Service for getting the device id and model
For Avatar Torso
/lifter_1/LiftingMotorService to initialise the torso for the avatar
For xArm
For UR
For Dobot
Control Message : For controlling the robot arm, extend_bio_ik publishes trajectory control message of type
contains the data.
Using the data part of the the following information could be sent
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,
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
IK Target : /extend_control_command contains the end effector and other interactive target poses and operation mode using message type
Gripper Control : /extend_gripper_command for the gripper control using message type,
Navigation Control : /extend_vel for sending the velocity command using the message type
/tab_vel for sending the velocity command using the message type
/head_controller/point_head_action/goal for sending the head control, look at target using the message type
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
Gripper Response Message : /extend_gripper_response for the response of the joint positions of the 5 finger gripper and the force applied on each finger using the message type
/lifter_1/LiftMotorInitState for the initialization status of the torso using
/ur_hardware_interface/safety_mode for the robot arm errors using
/xarm/xarm_states for the robot arm errors using
/xarm/uf_ftsensor_ext_states for the force torque sensor value using type
/sonar_base for the ultrasound sensor values of type,
/scan for the laser scan data of type,
/dobot_v4_bringup/msg/FeedInfo for the robot arm errors using
/xarm/ft_sensor_enable to enable the force torque sensor using
/xarm/set_mode to set the xarm mode using
/xarm/set_state to set xarm state using
/xarm/clear_err to clear xarm errors using
/ur_hardware_interface/dashboard/unlock_protective_stop to unlock protective stop after collision using .
/ur_hardware_interface/dashboard/stop to stop the program using .
/ur_hardware_interface/dashboard/program_state to get the program state (playing, paused or stop) using
/ur_hardware_interface/dashboard/play to start the program using .
/dobot_v4_bringup/srv/GetErrorID to get the dobot specific Error ID using
/dobot_v4_bringup/srv/ClearError to clear dobot errors using
/dobot_v4_bringup/srv/EnableRobot to enable the dobot robot using
Essential Information for ROS-side Customization
