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Common Topics - Details

/command_list

Type: robot_movement_interface::CommandList.msg

This topic communicates the robot movement commands to the robot driver.

  • Header header: Timestamp information (see: std_msgs::Header.msg)
  • Command[] commands: List of movement commands (see below)
  • bool replace_previous_commands:
    • true: Replaces any planned command with current new commands.
    • false: Adds the new commands to the command queue.

robot_movement_interface::Command.msg

This message contains a flexible movement command for robotic drivers.

  • Header header: Timestamp information (see: std_msgs::Header.msg)
  • uint32 command_id: ID of the movement command
  • string command_type: the movement type (LIN, PTP)

Reference:

  • string pose_reference: Name of the used base frame for the relative positions
  • EulerFrame pose_reference_frame: (optional) The values of the reference frame. If not set, the command will be executed in '/base' frame.

Pose:

  • string pose_type: type of the movement pose (JOINTS, QUATERNION, EULER_INTRINSIC_ZYX)
  • float32[] pose: the values of the target frame relative to the reference frame.

Velocity:

  • string velocity_type: type of the velocity values (M/S, RAD/S, %, ...)
  • float32[] velocity: the velocity values

Acceleration:

  • string acceleration_type: type of the acceleration values (M/S^2, RAD/S^2, %, ...)
  • float32[] acceleration: the acceleration values

Effort:

  • string effort_type: type of the effort values (N, NM, ...)
  • float32[] effort: the effort values

Blending:

  • string blending_type: type of the blending values (M, RAD, %, ...)
  • float32[] blending: the blending values

Additional Parameters:

  • string[] additional_parameters: list of additional parameter names
  • float32[] additional_values: list of the corresponding values to the additional parameter names

/command_result

Type: robot_movement_interface::Result.msg

This topic communicates the result of the last movement from the robot driver.

  • Header header: Timestamp information (see: std_msgs::Header.msg)
  • uint32 command_id: ID of the corresponding movement command
  • int32 result_code: Result code of the corresponding movement
    • 0: no error occurred during movement
    • !0: error occurred during movement
  • string additional_information: Additional information

/robot_status

Type: industrial_msgs::RobotStatus.msg

This topic communicates the current robot status from the driver. See industrial_msgs::RobotStatus.msg for further information.

/tool_frame

Type: robot_movement_interface::EulerFrame.msg

This topic communicates the current coordinates of the robot tool frame from the driver. See below for EulerFrame definition.

robot_movement_interface::EulerFrame.msg

Coordinates message of an arbitrary frame in Euler Intrinsic ZYX convention. For orientation alpha is rotated at first in the z-axis (yaw), then beta is rotated in the new y-axis (pitch) and finally gamma is rotated in the new x-axis (roll).

  • float32 x, y, z: translational coordinates of the frame in meters
  • float32 alpha, beta, gamma: rotational coordinates of the frame in rad

/joint_states

Type: sensor_msgs::JointState.msg

This topic communicates all current joint states for the robot from the driver. See sensor_msgs::JointState for further information.

/current_speed_scale

Type: std_msgs::Float32.msg

This topic communicates the current speed factor for the robot from the driver.

  • float32 data: The current speed factor from 0.0 to 1.0.

/io_states

Type: robot_movement_interface::IOStates.msg

This topic communicates the current states of inputs and outputs from the driver.

  • IOState[] inputs: Array of all digital input pins and their current value. See below for IOState definition.
  • IOState[] outputs: Array of all digital output pins and their current value. See below for IOState definition.

robot_movement_interface::IOState.msg

Status message for an arbitrary digital input or output.

  • int32 pin_number: The number of the digital I/O pin.
  • bool pin_value: The status of the digital I/O pin.