ReadMe.md

Description of the data structure used by xarm_ros2

msg

• xarm_msgs::msg::RobotMsg
  • xarm_api->topic: xarm_states
• xarm_msgs::msg::CIOState
  • xarm_api->topic: xarm_cgpio_states
• sensor_msgs::msg::JointState
  • xarm_api->topic: joint_states

srv

• xarm_msgs::srv::Call

  • xarm_api->service: clean_error
  • xarm_api->service: clean_warn
  • xarm_api->service: clean_conf
  • xarm_api->service: save_conf
  • xarm_api->service: reload_dynamics
  • xarm_api->service: set_counter_reset
  • xarm_api->service: set_counter_increase
  • xarm_api->service: clean_gripper_error
  • xarm_api->service: clean_bio_gripper_error
  • xarm_api->service: start_record_trajectory
  • xarm_api->service: stop_record_trajectory

• xarm_msgs::srv::GetInt16

  • xarm_api->service: get_state
  • xarm_api->service: get_cmdnum
  • xarm_api->service: get_vacuum_gripper
  • xarm_api->service: get_gripper_err_code
  • xarm_api->service: get_bio_gripper_status
  • xarm_api->service: get_bio_gripper_error

• xarm_msgs::srv::SetInt16

  • xarm_api->service: set_mode
  • xarm_api->service: set_state
  • xarm_api->service: set_collision_sensitivity
  • xarm_api->service: set_teach_sensitivity
  • xarm_api->service: set_gripper_mode
  • xarm_api->service: set_gripper_enable
  • xarm_api->service: set_tgpio_modbus_timeout
  • xarm_api->service: set_bio_gripper_speed
  • xarm_api->service: set_fence_mode
  • xarm_api->service: set_reduced_mode
  • xarm_api->service: set_self_collision_detection
  • xarm_api->service: set_simulation_robot

• xarm_msgs::srv::SetInt16ById

  • xarm_api->service: motion_enable
  • xarm_api->service: set_servo_attach
  • xarm_api->service: set_servo_detach

• xarm_msgs::srv::SetInt16List

  • xarm_api->service: set_reduced_tcp_boundary

• xarm_msgs::srv::GetInt32

  • xarm_api->service: get_tgpio_modbus_baudrate

• xarm_msgs::srv::SetInt32

  • xarm_api->service: set_tgpio_modbus_baudrate

• xarm_msgs::srv::GetFloat32

  • xarm_api->service: get_gripper_position

• xarm_msgs::srv::GetFloat32List

  • xarm_api->service: get_position
  • xarm_api->service: get_servo_angle
  • xarm_api->service: get_position_aa

• xarm_msgs::srv::SetFloat32

  • xarm_api->service: set_pause_time
  • xarm_api->service: set_tcp_jerk
  • xarm_api->service: set_tcp_maxacc
  • xarm_api->service: set_joint_jerk
  • xarm_api->service: set_joint_maxacc
  • xarm_api->service: set_gripper_speed
  • xarm_api->service: set_reduced_max_tcp_speed
  • xarm_api->service: set_reduced_max_joint_speed

• xarm_msgs::srv::SetFloat32List

  • xarm_api->service: set_gravity_direction
  • xarm_api->service: set_tcp_offset
  • xarm_api->service: set_world_offset
  • xarm_api->service: set_reduced_joint_range

• xarm_msgs::srv::SetTcpLoad

  • xarm_api->service: set_tcp_load

• xarm_msgs::srv::MoveCartesian

  • xarm_api->service: set_position
  • xarm_api->service: set_tool_position
  • xarm_api->service: set_position_aa
  • xarm_api->service: set_servo_cartesian
  • xarm_api->service: set_servo_cartesian_aa

• xarm_msgs::srv::MoveJoint

  • xarm_api->service: set_servo_angle
  • xarm_api->service: set_servo_angle_j

• xarm_msgs::srv::MoveCircle

  • xarm_api->service: move_circle

• xarm_msgs::srv::MoveHome

  • xarm_api->service: move_gohome

• xarm_msgs::srv::MoveVelocity

  • xarm_api->service: vc_set_joint_velocity
  • xarm_api->service: vc_set_cartesian_velocity

• xarm_msgs::srv::GetDigitalIO

  • xarm_api->service: get_tgpio_digital
  • xarm_api->service: get_cgpio_digital

• xarm_msgs::srv::GetAnalogIO

  • xarm_api->service: get_tgpio_analog
  • xarm_api->service: get_cgpio_analog

• xarm_msgs::srv::SetDigitalIO

  • xarm_api->service: set_tgpio_digital
  • xarm_api->service: set_cgpio_digital
  • xarm_api->service: set_tgpio_digital_with_xyz
  • xarm_api->service: set_cgpio_digital_with_xyz

• xarm_msgs::srv::SetAnalogIO

  • xarm_api->service: set_cgpio_analog
  • xarm_api->service: set_cgpio_analog_with_xyz

• xarm_msgs::srv::VacuumGripperCtrl

  • xarm_api->service: set_vacuum_gripper

• xarm_msgs::srv::GripperMove

  • xarm_api->service: set_gripper_position

• xarm_msgs::srv::BioGripperEnable

  • xarm_api->service: set_bio_gripper_enable

• xarm_msgs::srv::BioGripperCtrl

  • xarm_api->service: open_bio_gripper
  • xarm_api->service: close_bio_gripper

• xarm_msgs::srv::RobotiqReset

  • xarm_api->service: robotiq_reset

• xarm_msgs::srv::RobotiqActivate

  • xarm_api->service: robotiq_set_activate

• xarm_msgs::srv::RobotiqMove

  • xarm_api->service: robotiq_set_position
  • xarm_api->service: robotiq_open
  • xarm_api->service: robotiq_close

• xarm_msgs::srv::RobotiqGetStatus

  • xarm_api->service: robotiq_get_status

• xarm_msgs::srv::GetSetModbusData

  • xarm_api->service: getset_tgpio_modbus_data

• xarm_msgs::srv::TrajCtrl

  • xarm_api->service: save_record_trajectory
  • xarm_api->service: load_trajectory

• xarm_msgs::srv::TrajPlay

  • xarm_api->service: playback_trajectory

• xarm_msgs::srv::PlanPose

  • xarm_planner->service: xarm_pose_plan

• xarm_msgs::srv::PlanJoint

  • xarm_planner->service: xarm_joint_plan

• xarm_msgs::srv::PlanSingleStraight

  • xarm_planner->service: xarm_straight_plan

• xarm_msgs::srv::PlanExec

  • xarm_planner->service: xarm_exec_plan

action

• control_msgs::action::GripperCommand
  • • xarm_api->action: xarm_gripper/gripper_action