Current Robokit Publishers, Subscribers and Services

Essential Information for ROS-side Customization

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 typeArm Response Message.

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
  - /ur_hardware_interface/safety_mode for the robot arm errors using Safety Mode Message
- 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

System Info Service for getting the device id and model
For xArm
- /xarm/ft_sensor_enable to enable the force torque sensor using Set Int Service File.
- /xarm/set_mode to set the xarm mode using Set Int Service File.
- /xarm/set_state to set xarm state using Set Int Service File.
- /xarm/clear_err to clear xarm errors using Get Err Service File.
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 Get Program State Service File
- /ur_hardware_interface/dashboard/play to start the program using Trigger Service.

PreviousRoboKit NextGripper Customizations

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 typeArm Response Message.

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 Specific Topics :

For UR
- /ur_hardware_interface/safety_mode for the robot arm errors using Safety Mode Message
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

System Info Service for getting the device id and model

For xArm

/xarm/ft_sensor_enable to enable the force torque sensor using Set Int Service File.
/xarm/set_mode to set the xarm mode using Set Int Service File.
/xarm/set_state to set xarm state using Set Int Service File.
/xarm/clear_err to clear xarm errors using Get Err Service File.

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 Get Program State Service File
/ur_hardware_interface/dashboard/play to start the program using Trigger Service.