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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	2024-11-28
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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

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

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
run_recorded_traj
xarm_bringup
xarm_controller
xarm_gripper
d435i_xarm_setup

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

Init

motion_ctrl

set_mode

set_state

clear_err

moveit_clear_err

Motion

go_home

move_joint

move_jointb

move_line

move_lineb

move_line_tool

move_servoj

move_servo_cart

move_line_aa

move_servo_cart_aa

velo_move_joint

velo_move_line

velo_move_joint_timed

velo_move_line_timed

Tool GPIO (ionum from 1 to 2)

set_digital_out

get_digital_in

get_analog_in

Controller GPIO (ionum from 1 to 16)

set_controller_dout

get_controller_din

set_controller_aout

get_controller_ain

XArm Gripper

gripper_config

gripper_move

gripper_state

XArm Vacuum Gripper

vacuum_gripper_set

Lite Gripper

open_lite6_gripper

close_lite6_gripper

stop_lite6_gripper

Force torque Sensor

ft_sensor_enable

ft_sensor_app_set

ft_sensor_set_zero

ft_sensor_cali_load

ft_sensor_iden_load

get_ft_sensor_error

Tool Modbus

config_tool_modbus

set_tool_modbus

get_tgpio_modbus_baudrate

set_tgpio_modbus_timeout

getset_tgpio_modbus_data

Get

get_servo_angle

get_position_rpy

get_position_axis_angle

Set

set_tcp_offset

set_load

set_max_acc_joint

set_max_acc_line

set_collision_rebound

set_collision_sensitivity

set_teach_sensitivity

set_world_offset

set_fence_mode

set_reduced_mode

set_tcp_jerk

set_joint_jerk

Trajectory

Recent questions tagged `xarm_api` at Robotics Stack Exchange