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.