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 2020-11-25
Dev Status DEVELOPED
CI status No 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_msgs package

Additional Links

No additional links.

Maintainers

  • Jason Peng

Authors

No additional authors.

Service Introduction

  The services and messages defined in this package is based on the programming API. To offer a way for users to call them by ROS interface. Services provided are:

motion_ctrl

  To enable or disable the servo control of any joint.(message type: xarm_msgs::SetAxis)

set_mode

  To set operation mode. (message type: xarm_msgs::SetInt16)
  * 0 for POSE mode, the robot will be position controlled. Trajectory will be planned by XArm Controller.
  * 1 for SERVOJ mode, the robot will be commanded by servo_j function, fast & immediate execution like a step response, use this if user can generate properly interpolated trajectory.
  * 2 for TEACH_JOINT mode, Gravity compensated mode, no position control.

set_state

  To set robot state. (message type: xarm_msgs::SetInt16)
  * 0 for READY/START state, robot must be in this state to perform any motion.
  * 3 for PAUSE state, robot motion will be suspended.
  * 4 for STOP state, if error occurs or configuration changes, robot will switch to this state.

go_home

  Robot will go to home position with specified velocity and acceleration.(message type: xarm_msgs::Move)

move_line

  Robot TCP will move to Caetesian target point with a straight line trajectory. Under specified Cartesian velocity and acceleartion. (message type: xarm_msgs::Move)

move_lineb

  Given a set of targets, robot will move to final target through middle points, at each middle point, 2 straight-line trajectory will be blended with specified radius. (message type: xarm_msgs::Move)

move_joint

  Given all desired joint positions, and max joint angular velocity/acceleration, robot will move to joint space target. (message type: xarm_msgs::Move)

move_servoj:

  Used in SERVOJ mode, and if user have trajectory planned, call this service with high enough rate. Each trajectory point will be executed fast and immediately. (message type: xarm_msgs::Move)

Please check the inside srv files for detailed data information.

Feedback Status Message

Refer to RobotMsg for robot feedback information contents published through topic "/xarm/xarm_states".

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged xarm_msgs at answers.ros.org