Current Robokit Publishers, Subscribers and Services

Essential Information for ROS-side Customization

Bio IK Solver node

Published Topics

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 Arm Control Message.

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 Arm Control Message.

  • Gripper Control : /extend_gripper_command for the gripper control using message typeGripper Control Message.

    • 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 typeArm Response Message.

  • Arm Specific Topics :

    • For UR

    • For xArm

      • /xarm/xarm_states for the robot arm errors using Robot Message.

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

Arm Specific Services