Niryo_robot_arm_commander ======================================== | This package is the one dealing with all commander related stuff. | It is composed of only one node, which is running separately the arm commander and the tool commander. Commander node -------------------------- The ROS Node is made to interact with: - The Arm through MoveIt! - The tools through the tool controller. All commands are firstly received on the actionlib server which: * Handles concurrent requests. * Checks if the command can't be processed due to other factors (ex: learning mode). * Validates parameters. * Calls required controllers and returns appropriate status and message. The namespace used is: |namespace_emphasize| Parameters - Commander ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. list-table:: Commander's Parameters :header-rows: 1 :widths: auto :stub-columns: 0 :align: center * - Name - Description * - ``reference_frame`` - | Reference frame used by MoveIt! for moveP. | Default : 'world' * - ``move_group_commander_name`` - Name of the group that MoveIt is controlling. By default: "arm" * - ``jog_timer_rate_sec`` - Publish rate for jog controller * - ``simu_gripper`` - If you are using the simulated Gripper and want to control the Gripper Action Server - Commander ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. list-table:: Commander Package Action Servers :header-rows: 1 :widths: auto :stub-columns: 0 :align: center * - Name - Message Type - Description * - ``robot_action`` - :ref:`RobotMove` - Command the arm and tools through an action server Services - Commander ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. list-table:: Commander Package Services :header-rows: 1 :widths: auto :stub-columns: 0 :align: center * - Name - Message Type - Description * - ``is_active`` - :ref:`source/ros/niryo_robot_msgs:GetBool` - Indicate whereas a command is actually running or not * - ``stop_command`` - :ref:`source/ros/niryo_robot_msgs:Trigger` - Stop the actual command * - ``set_max_velocity_scaling_factor`` - :ref:`source/ros/niryo_robot_msgs:SetInt` - Set a percentage of maximum speed * - ``/niryo_robot/kinematics/forward`` - :ref:`GetFK` - Compute a Forward Kinematic * - ``/niryo_robot/kinematics/inverse`` - :ref:`GetIK` - Compute a Inverse Kinematic Messages - Commander ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. list-table:: Commander Package Messages :header-rows: 1 :widths: auto :stub-columns: 0 :align: center * - Name - Description * - :ref:`ArmMoveCommand` - Message to command the arm * - :ref:`ShiftPose` - Message for shifting pose * - :ref:`PausePlanExecution` - Pause movement execution All these services are available as soon as the node is started. Dependencies - Commander ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - :wiki_ros:`actionlib` - :msgs_index:`actionlib_msgs` - :msgs_index:`control_msgs` - :msgs_index:`geometry_msgs` - `MoveIt! `_ - :msgs_index:`moveit_msgs` - :doc:`niryo_robot_msgs` - :doc:`niryo_robot_tools_commander` - `python-numpy `_ - :wiki_ros:`ros_controllers` - :wiki_ros:`rosbridge_server` - :msgs_index:`sensor_msgs` - :msgs_index:`std_msgs` - :wiki_ros:`tf2_web_republisher` - :msgs_index:`trajectory_msgs` Action, services & messages files - Commander ------------------------------------------------------ RobotMove (Action) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/action/RobotMove.action :language: rostype GetFK (Service) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/srv/GetFK.srv :language: rostype GetIK (Service) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/srv/GetIK.srv :language: rostype JogShift (Service) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/srv/JogShift.srv :language: rostype ArmMoveCommand (Message) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/msg/ArmMoveCommand.msg :language: rostype PausePlanExecution (Message) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/msg/PausePlanExecution.msg :language: rostype ShiftPose (Message) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. literalinclude:: ../../../niryo_robot_arm_commander/msg/ShiftPose.msg :language: rostype .. |namespace| replace:: /niryo_robot_arm_commander/ .. |namespace_emphasize| replace:: ``/niryo_robot_arm_commander/`` .. |package_path| replace:: ../../../niryo_robot_arm_commander