Niryo_robot_msgs

This package contains standard messages which can be used by all other packages.

Niryo messages

Ned Messages
Name Description
BusState TTL bus state
CommandStatus Enum-wise message for status code
ObjectPose x, y, z, roll, pitch, yaw
RobotState position, rpy, quaternion
RPY roll, pitch, yaw
HardwareStatus several hardware information
SoftwareVersion several software version

Niryo services

Ned Services
Name Description
GetBool Return a bool
GetInt Return a integer
GetNameDescriptionList Return a name list and a description list
GetString Return a string
GetStringList Return a list of string
Ping Used to ping APIs
SetBool Set a bool and return status
SetFloat Set a float and return status
SetInt Set a integer and return status
SetString Set a string and return status
Trigger Trigger a task

Niryo message dependencies

Niryo message files

BusState

std_msgs/Header header
bool connection_status
uint8[] motor_id_connected
string error

CommandStatus

int32 val

# overall behavior
int32 SUCCESS = 1
int32 CANCELLED = 2
int32 PREEMPTED = 3

int32 FAILURE = -1
int32 ABORTED = -3
int32 STOPPED = -4

int32 BAD_HARDWARE_VERSION = -10
int32 ROS_ERROR = -20

int32 FILE_ALREADY_EXISTS = -30
int32 FILE_NOT_FOUND = -31


int32 UNKNOWN_COMMAND = -50
int32 NOT_IMPLEMENTED_COMMAND = -51
int32 INVALID_PARAMETERS = -52

# - Hardware
int32 HARDWARE_FAILURE = -110
int32 HARDWARE_NOT_OK = -111
int32 LEARNING_MODE_ON = -112
int32 CALIBRATION_NOT_DONE = -113
int32 DIGITAL_IO_PANEL_ERROR = -114
int32 LED_MANAGER_ERROR = -115
int32 BUTTON_ERROR = -116
int32 WRONG_MOTOR_TYPE = -117
int32 TTL_WRITE_ERROR = -118
int32 TTL_READ_ERROR = -119
int32 CAN_WRITE_ERROR = -120
int32 CAN_READ_ERROR = -121
int32 NO_CONVEYOR_LEFT = -122
int32 NO_CONVEYOR_FOUND = -123
int32 CONVEYOR_ID_INVALID = -124
int32 CALIBRATION_IN_PROGRESS = -125

# - Vision
int32 VIDEO_STREAM_ON_OFF_FAILURE = -170
int32 VIDEO_STREAM_NOT_RUNNING = -171
int32 OBJECT_NOT_FOUND = -172
int32 MARKERS_NOT_FOUND = -173

# - Commander
# Arm Commander
int32 ARM_COMMANDER_FAILURE = -220
int32 GOAL_STILL_ACTIVE = -221
int32 JOG_CONTROLLER_ENABLED = -222
int32 CONTROLLER_PROBLEMS = -223
int32 SHOULD_RESTART = -224
int32 JOG_CONTROLLER_FAILURE = -225

int32 COLLISION = -226

int32 PAUSE_TIMEOUT= -227
int32 CANCEL_PAUSE= -228

int32 PLAN_FAILED = -230
int32 NO_PLAN_AVAILABLE = -231
int32 INVERT_KINEMATICS_FAILURE = -232

# Tool Commander
int32 TOOL_FAILURE = -251
int32 TOOL_ID_INVALID = -252
int32 TOOL_NOT_CONNECTED = -253
int32 TOOL_ROS_INTERFACE_ERROR = -254

# - Pose Handlers
int32 POSES_HANDLER_CREATION_FAILED = -300
int32 POSES_HANDLER_REMOVAL_FAILED = -301
int32 POSES_HANDLER_READ_FAILURE = -302
int32 POSES_HANDLER_COMPUTE_FAILURE = -303

int32 DYNAMIC_FRAME_EDIT_FAILED = -305
int32 DYNAMIC_FRAME_CREATION_FAILED = -306
int32 CONVERT_FAILED = -307

int32 WORKSPACE_CREATION_FAILED = -308

# - Trajectory Handler
int32 TRAJECTORY_HANDLER_CREATION_FAILED = -310
int32 TRAJECTORY_HANDLER_REMOVAL_FAILED = -311
int32 TRAJECTORY_HANDLER_RENAME_FAILURE = -312
int32 TRAJECTORY_HANDLER_EXECUTE_REGISTERED_FAILURE = -313
int32 TRAJECTORY_HANDLER_EXECUTE_FAILURE = -314
int32 TRAJECTORY_HANDLER_GET_TRAJECTORY_FAILURE = -315
int32 TRAJECTORY_HANDLER_GET_TRAJECTORY_LIST_FAILURE = -316

# - Programs Manager
int32 PROGRAMS_MANAGER_FAILURE = -320
int32 PROGRAMS_MANAGER_READ_FAILURE = -321
int32 PROGRAMS_MANAGER_UNKNOWN_LANGUAGE = -325
int32 PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE = -326
int32 PROGRAMS_MANAGER_EXECUTION_FAILED = -327
int32 PROGRAMS_MANAGER_STOPPING_FAILED = -328
int32 PROGRAMS_MANAGER_AUTORUN_FAILURE = -329
int32 PROGRAMS_MANAGER_WRITING_FAILURE = -330
int32 PROGRAMS_MANAGER_FILE_ALREADY_EXISTS = -331
int32 PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST = -332


# - Credentials
int32 CREDENTIALS_FILE_ERROR = -400
int32 CREDENTIALS_UNKNOWN_ERROR = -401


# - System Api Client
int32 SYSTEM_API_CLIENT_UNKNOWN_ERROR = -440
int32 SYSTEM_API_CLIENT_INVALID_ROBOT_NAME = -441
int32 SYSTEM_API_CLIENT_REQUEST_FAILED = -442
int32 SYSTEM_API_CLIENT_UNKNOWN_COMMAND = -443
int32 SYSTEM_API_CLIENT_COMMAND_FAILED = -444

# - Database
int32 DATABASE_DB_ERROR = -460
int32 DATABASE_SETTINGS_UNKNOWN = -461
int32 DATABASE_SETTINGS_TYPE_MISMATCH = -462
int32 DATABASE_FILE_PATH_UNKNOWN = -463


# - Reports
int32 REPORTS_UNABLE_TO_SEND = -470
int32 REPORTS_SENDING_FAIL = -471
int32 REPORTS_FETCHING_FAIL = -472
int32 REPORTS_SERVICE_UNREACHABLE = -473

# - Sound interface
int32 SOUND_FILE_NOT_FOUND = -500
int32 PROTECTED_SOUND_NAME = -501
int32 INVALID_SOUND_NAME = -502
int32 INVALID_SOUND_FORMAT = -503
int32 SOUND_TIMEOUT = -504

# - I2C interface
int32 MISSING_I2C = -510

ObjectPose

float64 x
float64 y
float64 z

float64 roll
float64 pitch
float64 yaw

RobotState

geometry_msgs/Point position
niryo_robot_msgs/RPY rpy
geometry_msgs/Quaternion orientation

geometry_msgs/Twist twist
float64 tcp_speed

RPY

# roll, pitch and yaw

float64 roll
float64 pitch
float64 yaw

HardwareStatus

std_msgs/Header header

# Raspberry Pi board
int32 rpi_temperature

# Ned, One, ....
string hardware_version

# Hardware State
int8 ERROR = -1
int8 NORMAL = 0
int8 DEBUG = 1
int8 REBOOT = 2

int8 hardware_state

# Motors
bool connection_up
string error_message
bool calibration_needed
bool calibration_in_progress

string[] motor_names
string[] motor_types

int32[] temperatures
float64[] voltages
int32[] hardware_errors
string[] hardware_errors_message

SoftwareVersion

string rpi_image_version
string ros_niryo_robot_version
string robot_version

string[] motor_names
string[] stepper_firmware_versions

Niryo Service files

GetBool

---
bool value

GetInt

---
int32 value

GetNameDescriptionList

---
string[] name_list
string[] description_list

GetString

---
string value

GetStringList

---
string[] string_list

Ping

string name
bool state
---

SetBool

bool value
---
int32 status
string message

SetFloat

float32 value
---
int32 status
string message

SetInt

int32 value
---
int32 status
string message

SetString

string value
---
int32 status
string message

Trigger

---
int32 status
string message