Tools Interface¶
This package handles Niryo’s tools.
Tools interface node (For Development and Debugging)¶
- The ROS Node is made to:
- Initialize Tool Interface with configuration parameters.
- Start ROS stuffs like services, topics.
Tools Interface Core¶
It is instantiated in Niryo Robot Hardware Interface package.
- It has been conceived to:
- Initialize the Tool Interface.
- Provide services for setting and controlling tools.
- Publish tool connection state.
It belongs to the ROS namespace: /tools_interface/.
Tool Interface’s default Parameters¶
| Name | Description |
|---|---|
check_tool_connection_frequency |
The frequency where tool interface check and publish the state of the tool connected,
or remove tool if it is disconnected.
Default: ‘2.0’
|
Tool Interface’s hardware specific Parameters¶
These parameters are specific to the hardware version (Ned, One or Ned2). This file comes in a different version for each hardware version, located in a directory of the hardware version name.
| Name | Description | Supported Hardware versions |
|---|---|---|
id_list |
List of default IDs of each tool supported by Niryo
Default: ‘[11,12,13,30,31]’
|
All Versions |
type_list |
List of motor tools type
Default: ‘xl320’ for NED and ONE
Default: ‘xl330’ for NED2
Default: ‘fakeDxl’ for simulation
|
All Versions |
name_list |
List of tools’s name corresponds to ID list and type list above
Default: ‘[“Standard Gripper”, “Large Gripper”, “Adaptive Gripper”, “Vacuum Pump”, “Electromagnet”]’
|
All Versions |
Dependencies¶
Services, Topics and Messages¶
Published topics¶
| Name | Message Type | Description |
|---|---|---|
/niryo_robot_hardware/tools/current_id |
std_msgs/Int32 | Current tool ID |
Services¶
| Name | Message Type | Description |
|---|---|---|
niryo_robot/tools/ping_and_set_dxl_tool |
tools_interface/PingDxlTool | Scans and sets for a tool plugged |
niryo_robot/tools/open_gripper |
tools_interface/OpenGripper | Opens the gripper |
niryo_robot/tools/close_gripper |
tools_interface/OpenGripper | Closes the gripper |
niryo_robot/tools/pull_air_vacuum_pump |
tools_interface/OpenGripper | Pulls air with the vacuum pump |
niryo_robot/tools/push_air_vacuum_pump |
tools_interface/OpenGripper | Pushes air with the vacuum pump |
niryo_robot/tools/reboot |
std_srvs/Trigger | Reboots the motor of the equipped tool |
PingDxlTool (Service)¶
---
int8 state
tools_interface/Tool tool
ToolCommand (Service)¶
uint8 id
uint16 position
uint16 speed
int16 hold_torque
int16 max_torque
---
uint8 state