Tools_interface¶
This package handles Niryo’s tools.
Tools interface node¶
- The ROS Node is made to:
- Set and control tools.
- Publish tool connection state.
Parameters - tools interface¶
| Name | Description |
|---|---|
check_tool_connection_frequency |
Publish and control rate for tools connection state.
Default: ‘2.0’
|
id_list |
List of tools id
Default: ‘[11,12,13,14,31]’
|
motor_type_list |
List of motor tools type
Default: ‘[“xl320”,”xl320”,”xl320”,”xl320”,”xl320”]’
|
Published topics - tools interface¶
| Name | Message Type | Description |
|---|---|---|
/niryo_robot_hardware/tools/current_id |
std_msgs/Int32 | Current tool ID |
Services - tools interface¶
| Name | Message Type | Description |
|---|---|---|
niryo_robot/tools/ping_and_set_dxl_tool |
tools_interface/PingDxlTool | Scan and set for a tool plugged |
niryo_robot/tools/open_gripper |
tools_interface/OpenGripper | Open a gripper tool |
niryo_robot/tools/close_gripper |
tools_interface/CloseGripper | Close a gripper tool |
niryo_robot/tools/pull_air_vacuum_pump |
tools_interface/PullAirVacuumPump | Pull vacuum pump tool |
niryo_robot/tools/push_air_vacuum_pump |
tools_interface/PushAirVacuumPump | Push vacuum pump tool |
Dependencies - tools interface¶
Services & messages files - tools interface¶
PingDxlTool (Service)¶
---
int32 state
uint8 id
OpenGripper (Service)¶
uint8 id
int16 open_position
int16 open_speed
int16 open_hold_torque
---
uint8 state
CloseGripper (Service)¶
uint8 id
int16 close_position
int16 close_speed
int16 close_hold_torque
int16 close_max_torque
---
uint8 state
PullAirVacuumPump (Service)¶
uint8 id
int16 pull_air_position
int16 pull_air_hold_torque
---
uint8 state
PushAirVacuumPump (Service)¶
uint8 id
int16 push_air_position
---
uint8 state