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xarm_api package from xarm repo

dual_xarm6_moveit_config multi_xarm5 run_recorded_traj xarm5_vacuum_gripper_moveit_config xarm6_vacuum_gripper_moveit_config xarm7_redundancy_res xarm7_vacuum_gripper_moveit_config lite6_moveit_config uf_robot_moveit_config xarm5_gripper_moveit_config xarm5_moveit_config xarm6_gripper_moveit_config xarm6_moveit_config xarm7_gripper_moveit_config xarm7_moveit_config xarm_api xarm_bringup xarm_controller xarm_description xarm_gazebo xarm_gripper xarm_moveit_servo xarm_msgs xarm_planner xarm_sdk camera_demo d435i_xarm_setup

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/xArm-Developer/xarm_ros.git
VCS Type	git
VCS Version	master
Last Updated	2024-04-12
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The xarm_api package

Additional Links

No additional links.

Maintainers

Jason Peng

Authors

No additional authors.

xarm_api/ReadMe.md

xarm_api services description

Services

The services of xarm_api is the interface encapsulation of C++ SDK, which may be a single interface call or multiple interface calls. Note: The service path prefix (xarm/) used by rosservice is related to the startup parameters. The default xarm series is xarm/, and the Lite series is ufactory/. The following example uses xarm/, the actual use is modified according to the actual situation.

C++ SDK DOCS

### Init
- ##### motion_ctrl
- SDK API
  - motion_enable
- rosservice

      # id: 1~7 means joint1~joint7, 8 means all joints
      # enable: 1 means enable, 0 means disable
      rosservice call /xarm/motion_ctrl ${enable} ${id}

##### set_mode
- SDK API:
  - set_mode
- rosservice:

      # mode: 
      #   0: position mode
      #   1: servo motion mode
      #   2: joint teaching mode
      #   4: joint velocity mode
      #   5: cartesian velocity mode
      #   6: joint online trajectory planning mode
      #   7: cartesian online trajectory planning mode
      rosservice call /xarm/set_mode ${mode}

##### set_state
- SDK API:
  - set_state
- rosservice:

      # state:
      #   0: motion state
      #   3: pause state
      #   4: stop state
      rosservice call /xarm/set_state ${state}

##### clear_err
- SDK API:
  - (if gripper added) clean_gripper_error
  - clean_error
  - clean_warn
  - motion_enable
- rosservice:

      rosservice call /xarm/clear_err

##### moveit_clear_err
- SDK API:
  - (if gripper added) clean_gripper_error
  - clean_error
  - clean_warn
  - motion_enable
  - set_mode
  - set_state
- rosservice:

      rosservice call /xarm/moveit_clear_err

### Motion
- ##### go_home
- SDK API:
  - move_gohome
- rosservice:

      # mvvelo: speed (rad/s)
      # mvacc: acceleration (rad/s^2)
      rosservice call /xarm/go_home [] ${mvvelo} ${mvacc} 0 0

##### move_joint
- SDK API:
  - set_servo_angle
- rosservice:

      # angles: [joint1-rad, ..., joint${dof}-rad]
      # mvvelo: speed (rad/s)
      # mvacc: acceleration (rad/s^2)
      rosservice call /xarm/move_joint ${angles} ${mvvelo} ${mvacc} 0 0

##### move_jointb
- SDK API:
  - set_servo_angle
- rosservice:

      # angles: [joint1-rad, ..., joint${dof}-rad]
      # mvvelo: speed (rad/s)
      # mvacc: acceleration (rad/s^2)
      # radius: the blending radius between 2 straight path trajectories, 0 for no blend.
      rosservice call /xarm/move_jointb ${angles} ${mvvelo} ${mvacc} 0 ${radius}

##### move_line
- SDK API:
  - set_position
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      rosservice call /xarm/move_line ${pose} ${mvvelo} ${mvacc} 0 0

##### move_lineb
- SDK API:
  - set_position
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      # radius: the blending radius between 2 straight path trajectories, 0 for no blend.
      rosservice call /xarm/move_lineb ${pose} ${mvvelo} ${mvacc} 0 ${radius}

##### move_line_tool
- SDK API:
  - set_tool_position
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      rosservice call /xarm/move_line_tool ${pose} ${mvvelo} ${mvacc} 0 0

##### move_servoj
- SDK API:
  - set_servo_angle_j
- rosservice:

      # angles: [joint1-rad, ..., joint${dof}-rad]
      # mvvelo: speed (rad/s)
      # mvacc: acceleration (rad/s^2)
      rosservice call /xarm/move_servoj ${angles} ${mvvelo} ${mvacc} 0 0

##### move_servo_cart
- SDK API:
  - set_servo_cartesian
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      # coord: motion coordinate system indicator, base (0) or tool(1) coordinate
      rosservice call /xarm/move_servo_cart ${pose} ${mvvelo} ${mvacc} ${coord} 0

##### move_line_aa
- SDK API:
  - set_position_aa
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      # coord: motion coordinate system indicator, base (0) or tool(1) coordinate
      # relative: indicator of given target is relative (1) or not (0, absolute)
      rosservice call /xarm/move_line_aa ${pose} ${mvvelo} ${mvacc} 0 ${coord} ${relative}

##### move_servo_cart_aa
- SDK API:
  - set_servo_cartesian_aa
- rosservice:

      # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
      # mvvelo: speed (mm/s)
      # mvacc: acceleration (mm/s^2)
      # coord: motion coordinate system indicator, base (0) or tool(1) coordinate
      # relative: indicator of given target is relative (1) or not (0, absolute)
      rosservice call /xarm/move_servo_cart_aa ${pose} ${mvvelo} ${mvacc} 0 ${coord} ${relative}

##### velo_move_joint
- SDK API:
  - vc_set_joint_velocity
- rosservice:

      # velocities: [joint1-velo(rad/s), ..., joint${dof}-velo(rad/s)]
      # jnt_sync: whether all joints accelerate and decelerate synchronously, 1 for yes, 0 for no
      rosservice call /xarm/velo_move_joint ${velocities} ${jnt_sync} 0

##### velo_move_line
- SDK API:
  - vc_set_cartesian_velocity
- rosservice:

      # velocities: [velo-x(mm/s), velo-y(mm/s), velo-z(mm/s), velo-roll(rad/s), velo-pitch(rad/s), velo-yaw(rad/s)]
      # coord: whether motion is in tool coordinate(1) or not(0)
      rosservice call /xarm/velo_move_joint ${velocities} 0 ${coord}

##### velo_move_joint_timed
- SDK API:
  - vc_set_joint_velocity
- rosservice:

      # velocities: [joint1-velo(rad/s), ..., joint${dof}-velo(rad/s)]
      # is_sync: whether all joints accelerate and decelerate synchronously, 1 for yes, 0 for no
      # duration: the maximum duration of the speed, over this time will automatically set the speed to 0
      rosservice call /xarm/velo_move_joint_timed ${velocities} ${is_sync} 0 ${duration}

##### velo_move_line_timed
- SDK API:
  - vc_set_cartesian_velocity
- rosservice:

      # velocities: [velo-x(mm/s), velo-y(mm/s), velo-z(mm/s), velo-roll(rad/s), velo-pitch(rad/s), velo-yaw(rad/s)]
      # is_tool_coord: whether motion is in tool coordinate(1) or not(0)
      # duration: the maximum duration of the speed, over this time will automatically set the speed to 0
      rosservice call /xarm/velo_move_line_timed ${velocities} 0 ${is_tool_coord} {duration}

### Tool GPIO (ionum from 1 to 2)
- ##### set_digital_out
- SDK API:
  - set_tgpio_digital
- rosservice:

      # io_num: io num, 1: DO0, 2: DO1
      # value: 0/1
      rosservice call /xarm/set_digital_out ${io_num} ${value}

##### get_digital_in
- SDK API:
  - get_tgpio_digital
- rosservice:

      rosservice call /xarm/get_digital_in

##### get_analog_in
- SDK API:
  - get_tgpio_analog
- rosservice:

      # io_num: io num, 1: AI0, 2: AI1
      rosservice call /xarm/get_analog_in ${io_num}

### Controller GPIO (ionum from 1 to 16)
- ##### set_controller_dout
- SDK API:
  - set_cgpio_digital
- rosservice:

      # io_num: io num, 1 ~ 16, (1: CO0, 9: DO0)
      # value: 0/1
      rosservice call /xarm/set_controller_dout ${io_num} ${value}

##### get_controller_din
- SDK API:
  - get_cgpio_digital
- rosservice:

      # io_num: io num, 1 ~ 16, (1: CI0, 9: DI0)
      rosservice call /xarm/get_controller_din ${io_num}

##### set_controller_aout
- SDK API:
  - set_cgpio_analog
- rosservice:

      # io_num: io num, 1: AO0, 2: AO1
      # value: value
      rosservice call /xarm/set_controller_aout ${io_num} ${value}

##### get_controller_ain
- SDK API:
  - get_cgpio_analog
- rosservice:

      # io_num: io num, 1: AI0, 2: AI1
      rosservice call /xarm/get_controller_ain ${io_num}

### XArm Gripper
- ##### gripper_config
- SDK API:
  - set_gripper_mode
  - set_gripper_enable
  - set_gripper_speed
- rosservice:

      # velocity: pulse velocity, 1 ~ 5000
      rosservice call /xarm/gripper_config ${velocity}

##### gripper_move
- SDK API:
  - set_gripper_position
- rosservice:

      # pos: pulse pos, -100 ~ 850
      rosservice call /xarm/gripper_move ${pos}

##### gripper_state
- SDK API:
  - get_gripper_err_code
  - get_gripper_position
- rosservice:

      rosservice call /xarm/gripper_state

### XArm Vacuum Gripper
- ##### vacuum_gripper_set
- SDK API:
  - set_vacuum_gripper
- rosservice:

      # on: 1: open, 0: close
      rosservice call /xarm/vacuum_gripper_set ${on}

### Lite Gripper
- ##### open_lite6_gripper
- SDK API:
  - open_lite6_gripper
- rosservice:

      rosservice call /xarm/open_lite6_gripper

##### close_lite6_gripper
- SDK API:
  - close_lite6_gripper
- rosservice:

      rosservice call /xarm/close_lite6_gripper

##### stop_lite6_gripper
- SDK API:
  - stop_lite6_gripper
- rosservice:

      rosservice call /xarm/stop_lite6_gripper

### Force torque Sensor
- ##### ft_sensor_enable
- SDK API:
  - ft_sensor_enable
- rosservice:

      # enable: 1: enable, 0: disable
      rosservice call /xarm/ft_sensor_enable ${enable}

##### ft_sensor_app_set
- SDK API:
  - ft_sensor_app_set
- rosservice:

      # app_code
      #   0: non-force mode
      #   1: impendance control
      #   2: force control
      rosservice call /xarm/ft_sensor_app_set ${app_code}

##### ft_sensor_set_zero
- SDK API:
  - ft_sensor_set_zero
- rosservice:

      rosservice call /xarm/ft_sensor_set_zero

##### ft_sensor_cali_load
- SDK API:
  - ft_sensor_cali_load
  - save_conf
- rosservice:

      # data: iden load result
      # association_setting_tcp_load: association setting tcp load or not
      rosservice call /xarm/ft_sensor_cali_load ${data} ${association_setting_tcp_load}

##### ft_sensor_iden_load
- SDK API:
  - ft_sensor_iden_load
- rosservice:

      rosservice call /xarm/ft_sensor_iden_load

##### get_ft_sensor_error
- SDK API:
  - get_ft_sensor_error
- rosservice:

      rosservice call /xarm/get_ft_sensor_error

### Tool Modbus
- ##### config_tool_modbus
- SDK API:
  - set_state
  - set_tgpio_modbus_baudrate
  - set_tgpio_modbus_timeout
- rosservice:

      # baudrate: baudrate
      # timeout_ms: timeout(ms)
      rosservice call /xarm/config_tool_modbus ${baudrate} ${timeout_ms}

##### set_tool_modbus
- SDK API:
  - getset_tgpio_modbus_data
- rosservice:

      # send_data: modbus data
      # respond_len: the length of the response modbus data
      rosservice call /xarm/getset_tgpio_modbus_data ${send_data} ${respond_len}

##### get_tgpio_modbus_baudrate
- SDK API:
  - get_tgpio_modbus_baudrate
- rosservice:

      rosservice call /xarm/get_tgpio_modbus_baudrate

##### set_tgpio_modbus_timeout
- SDK API:
  - set_tgpio_modbus_timeout
- rosservice:

      # timeout_ms: timeout(ms)
      # is_transparent_transmission: is transparent transmission or not
      rosservice call /xarm/set_tgpio_modbus_timeout ${timeout_ms} ${is_transparent_transmission}

##### getset_tgpio_modbus_data
- SDK API:
  - getset_tgpio_modbus_data
- rosservice:

      # send_data: modbus data
      # respond_len: the length of the response modbus data
      # host_id: host id, 9: END RS485, 10: Controller RS485
      # is_transparent_transmission: is transparent transmission or not
      # use_503_port: whether to use port 503 for communication
      rosservice call /xarm/getset_tgpio_modbus_data ${send_data} ${respond_len} ${host_id} ${is_transparent_transmission} ${use_503_port}

### Get
- ##### get_servo_angle
- SDK API:
  - get_servo_angle
- rosservice:

      rosservice call /xarm/get_servo_angle

##### get_position_rpy
- SDK API:
  - get_position
- rosservice:

      rosservice call /xarm/get_position_rpy

##### get_position_axis_angle
- SDK API:
  - get_position_aa
- rosservice:

      rosservice call /xarm/get_position_axis_angle

### Set
- ##### set_tcp_offset
- SDK API:
  - set_tcp_offset
  - save_conf
- rosservice

      # x/y/z: mm
      # roll/pitch/yaw: rad
      rosservice call /xarm/set_tcp_offset ${x} ${y} ${z} ${roll} ${pitch} ${yaw}

##### set_load
- SDK API:
  - set_tcp_load
  - save_conf
- rosservice

      # mass: kg
      # xc: x center of mass (mm)
      # yc: y center of mass (mm)
      # zc: z center of mass (mm)
      rosservice call /xarm/set_load ${mass} ${xc} ${yc} ${zc}

##### set_max_acc_joint
- SDK API:
  - set_joint_maxacc
- rosservice

      # maxacc: joint max acc, rad/s^2, 0 ~ 20
      rosservice call /xarm/set_max_acc_joint ${maxacc}

##### set_max_acc_line
- SDK API:
  - set_tcp_maxacc
- rosservice

      # maxacc: tcp max acc, mm/s^2, 0 ~ 50000
      rosservice call /xarm/set_max_acc_line ${maxacc}

##### set_collision_rebound
- SDK API:
  - set_collision_rebound
- rosservice

      # on: 1: on, 0: off
      rosservice call /xarm/set_collision_rebound ${on}

##### set_collision_sensitivity
- SDK API:
  - set_collision_sensitivity
- rosservice

      # sens: collision sensitivity, 0 ~ 5
      rosservice call /xarm/set_collision_sensitivity ${sens}

##### set_teach_sensitivity
- SDK API:
  - set_teach_sensitivity
- rosservice

      # sens: teach sensitivity, 1 ~ 5
      rosservice call /xarm/set_teach_sensitivity ${sens}

##### set_world_offset
- SDK API:
  - set_world_offset
  - save_conf
- rosservice

      # x/y/z: mm
      # roll/pitch/yaw: rad
      rosservice call /xarm/set_world_offset ${x} ${y} ${z} ${roll} ${pitch} ${yaw}

##### set_fence_mode
- SDK API:
  - set_fence_mode
- rosservice

      # on: 1: on, 0: off
      rosservice call /xarm/set_fence_mode ${on}

##### set_reduced_mode
- SDK API:
  - set_reduced_mode
- rosservice

      # on: 1: on, 0: off
      rosservice call /xarm/set_reduced_mode ${on}

##### set_tcp_jerk
- SDK API:
  - set_tcp_jerk
- rosservice

      # jerk: tcp max acc, mm/s^3
      rosservice call /xarm/set_tcp_jerk ${jerk}

##### set_joint_jerk
- SDK API:
  - set_joint_jerk
- rosservice

      # jerk: joint jerk, rad/s^3
      rosservice call /xarm/set_joint_jerk ${jerk}

### Trajectory
- ##### set_recording
- SDK API:
  - start_record_trajectory or stop_record_trajectory
- rosservice

      # on: 1: start, 0: stop
      rosservice call /xarm/set_recording ${on}

##### save_traj
- SDK API:
  - save_record_trajectory
- rosservice

      # filename: the trajectory filename to save
      # timeout: save timeout (second)
      rosservice call /xarm/save_traj ${filename} ${timeout}

##### play_traj
- SDK API:
  - playback_trajectory
- rosservice

      # filename: the trajectory filename to playback
      # times: repeat times
      # speed_factor: speed factor, 1/2/4
      rosservice call /xarm/play_traj ${filename} ${times} ${speed_factor}

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	roscpp
	2	std_msgs
	1	xarm_msgs
	2	sensor_msgs
	1	catkin
	1	actionlib
	2	actionlib_msgs
	1	control_msgs
	2	geometry_msgs
	3	std_srvs
	1	genmsg
	1	xarm_sdk

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
run_recorded_traj	github-xArm-Developer-xarm_ros
xarm_bringup	github-xArm-Developer-xarm_ros
xarm_controller	github-xArm-Developer-xarm_ros
xarm_gripper	github-xArm-Developer-xarm_ros
d435i_xarm_setup	github-xArm-Developer-xarm_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `xarm_api` at Robotics Stack Exchange

API Docs Browse Code

No version for distro melodic. Known supported distros are highlighted in the buttons above.

xarm_api package from xarm repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

xarm_api services description

Services

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged xarm_api at Robotics Stack Exchange

Recent questions tagged `xarm_api` at Robotics Stack Exchange