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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 Common Messages/Command.msg)
  • bool replace_previous_commands:
    • true: Replaces any planned command with current new commands.
    • false: Adds the new commands to the command queue.

/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 Common Messages/EulerFrame.msg)

/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. (see Common Messages/IOState.msg)

  • 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.