Current Robokit Publishers, Subscribers and Services
Essential Information for ROS-side Customization
Essential Information for ROS-side Customization
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
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
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
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 Dobot
/dobot_v4_bringup/msg/FeedInfo
for the robot arm errors using FeedInfo
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