Robot Movement Interface overview¶
The Robot Movement Interface is a standardized way in drag&bot for communicating with industrial robots and therefore controlling them. The RMI provides a ROS interface based on topics, services and actions which is used to transform human friendly commands to robot-specific commands, as well as to access robot functionalities such as for example blending or force controlled commands without requiring a parallel independent or specific interface.
All robot drivers compatible with drag&bot must reproduce the topic and service definitions. A ROS Action is automatically constructed on top through a program called actionizer. This program can be found together with the RMI definition.
Some driver components templates are available as C++ and Python examples in dnb_ros_driver_templates repository