Niryo_robot_tools

Provides functionalities to control end-effectors and accessories for Ned.

Tools node

The ROS Node is made of services to equip tool, an action server for tool command and topics for the current tool or the tool state.

The namespace used is: /niryo_robot_tools/

Action server - tools

Tools Package Action Server

Name	Message Type	Description
robot_action	ToolAction	Command the tool through an action server

Publisher - tools

Tools Package Publishers

Name	Message Type	Description
current_id	std_msgs/Int32	Publish the current tool ID

Services - tools

Tools Package Services

Name	Message Type	Description
update_tool	Trigger	Ping/scan for a dxl motor flashed with an ID corresponding to a tool and equip it (if found)
equip_electromagnet	SetInt	Equip the electromagnet with the motor ID given as parameter

Dependencies - tools

• Niryo_robot_msgs
• std_msgs

Action, services & messages files - tools

ToolAction (Action)

# goal
niryo_robot_tools/ToolCommand cmd
---
# result
int32 status
string message
---
# feedback
int32 progression

ToolCommand (Message)

uint8 tool_id
uint8 cmd_type

# if gripper close
uint16 gripper_close_speed

# if gripper open
uint16 gripper_open_speed

# if vacuum pump or electromagnet grove
bool activate

# if tool is set by digital outputs (electromagnet)
# if gpio<0 get value in memory
int8 gpio