Description of the data structure used by xarm_ros2

msg
​xarm_msgs::msg::RobotMsg​
xarm_api->topic: robot_states
​xarm_msgs::msg::CIOState​
xarm_api->topic: xarm_cgpio_states
​sensor_msgs::msg::JointState​
xarm_api->topic: joint_states
srv
​xarm_msgs::srv::Call​
xarm_api->service: clean_error
xarm_api->service: clean_warn
xarm_api->service: clean_conf
xarm_api->service: save_conf
xarm_api->service: reload_dynamics
xarm_api->service: set_counter_reset
xarm_api->service: set_counter_increase
xarm_api->service: clean_gripper_error
xarm_api->service: clean_bio_gripper_error
xarm_api->service: start_record_trajectory
xarm_api->service: stop_record_trajectory
xarm_api->service: ft_sensor_set_zero
xarm_api->service: set_linear_track_stop
xarm_api->service: clean_linear_track_error
xarm_api->service: open_lite6_gripper
xarm_api->service: close_lite6_gripper
xarm_api->service: stop_lite6_gripper
​xarm_msgs::srv::GetInt16​
xarm_api->service: get_state
xarm_api->service: get_cmdnum
xarm_api->service: get_vacuum_gripper
xarm_api->service: get_gripper_err_code
xarm_api->service: get_bio_gripper_status
xarm_api->service: get_bio_gripper_error
xarm_api->service: get_reduced_mode
xarm_api->service: get_report_tau_or_i
xarm_api->service: ft_sensor_app_get
xarm_api->service: get_ft_sensor_error
xarm_api->service: get_trajectory_rw_status
xarm_api->service: get_linear_track_pos
xarm_api->service: get_linear_track_status
xarm_api->service: get_linear_track_error
xarm_api->service: get_linear_track_is_enabled
xarm_api->service: get_linear_track_on_zero
xarm_api->service: get_linear_track_sci
​xarm_msgs::srv::GetInt16List​
xarm_api->service: get_err_warn_code
xarm_api->service: get_linear_track_sco
​xarm_msgs::srv::SetInt16​
xarm_api->service: set_mode
xarm_api->service: set_state
xarm_api->service: set_collision_sensitivity
xarm_api->service: set_teach_sensitivity
xarm_api->service: set_gripper_mode
xarm_api->service: set_gripper_enable
xarm_api->service: set_bio_gripper_speed
xarm_api->service: set_fence_mode
xarm_api->service: set_reduced_mode
xarm_api->service: set_self_collision_detection
xarm_api->service: set_simulation_robot
xarm_api->service: set_baud_checkset_enable
xarm_api->service: set_report_tau_or_i
xarm_api->service: ft_sensor_enable
xarm_api->service: ft_sensor_app_set
xarm_api->service: set_linear_track_enable
xarm_api->service: set_linear_track_speed
xarm_api->service: set_cartesian_velo_continuous
xarm_api->service: set_allow_approx_motion
xarm_api->service: set_only_check_type
xarm_api->service: config_tgpio_reset_when_stop
xarm_api->service: config_cgpio_reset_when_stop
​xarm_msgs::srv::SetInt16ById​
xarm_api->service: motion_enable
xarm_api->service: set_servo_attach
xarm_api->service: set_servo_detach
​xarm_msgs::srv::SetInt16List​
xarm_api->service: set_reduced_tcp_boundary
​xarm_msgs::srv::GetInt32​
xarm_api->service: get_tgpio_modbus_baudrate
​xarm_msgs::srv::SetInt32​
xarm_api->service: set_tgpio_modbus_baudrate
​xarm_msgs::srv::GetFloat32​
xarm_api->service: get_gripper_position
​xarm_msgs::srv::GetFloat32List​
xarm_api->service: get_position
xarm_api->service: get_servo_angle
xarm_api->service: get_position_aa
xarm_api->service: get_ft_sensor_data
​xarm_msgs::srv::SetFloat32​
xarm_api->service: set_pause_time
xarm_api->service: set_tcp_jerk
xarm_api->service: set_tcp_maxacc
xarm_api->service: set_joint_jerk
xarm_api->service: set_joint_maxacc
xarm_api->service: set_gripper_speed
xarm_api->service: set_reduced_max_tcp_speed
xarm_api->service: set_reduced_max_joint_speed
​xarm_msgs::srv::SetFloat32List​
xarm_api->service: set_gravity_direction
xarm_api->service: set_tcp_offset
xarm_api->service: set_world_offset
xarm_api->service: set_reduced_joint_range
​xarm_msgs::srv::SetTcpLoad​
xarm_api->service: set_tcp_load
​xarm_msgs::srv::MoveCartesian​
xarm_api->service: set_position
xarm_api->service: set_tool_position
xarm_api->service: set_position_aa
xarm_api->service: set_servo_cartesian
xarm_api->service: set_servo_cartesian_aa
​xarm_msgs::srv::MoveJoint​
xarm_api->service: set_servo_angle
xarm_api->service: set_servo_angle_j
​xarm_msgs::srv::MoveCircle​
xarm_api->service: move_circle
​xarm_msgs::srv::MoveHome​
xarm_api->service: move_gohome
​xarm_msgs::srv::MoveVelocity​
xarm_api->service: vc_set_joint_velocity
xarm_api->service: vc_set_cartesian_velocity
​xarm_msgs::srv::GetDigitalIO​
xarm_api->service: get_tgpio_digital
xarm_api->service: get_cgpio_digital
​xarm_msgs::srv::GetAnalogIO​
xarm_api->service: get_tgpio_analog
xarm_api->service: get_cgpio_analog
​xarm_msgs::srv::SetDigitalIO​
xarm_api->service: set_tgpio_digital
xarm_api->service: set_cgpio_digital
xarm_api->service: set_tgpio_digital_with_xyz
xarm_api->service: set_cgpio_digital_with_xyz
​xarm_msgs::srv::SetAnalogIO​
xarm_api->service: set_cgpio_analog
xarm_api->service: set_cgpio_analog_with_xyz
​xarm_msgs::srv::VacuumGripperCtrl​
xarm_api->service: set_vacuum_gripper
​xarm_msgs::srv::GripperMove​
xarm_api->service: set_gripper_position
​xarm_msgs::srv::BioGripperEnable​
xarm_api->service: set_bio_gripper_enable
​xarm_msgs::srv::BioGripperCtrl​
xarm_api->service: open_bio_gripper
xarm_api->service: close_bio_gripper
​xarm_msgs::srv::RobotiqReset​
xarm_api->service: robotiq_reset
​xarm_msgs::srv::RobotiqActivate​
xarm_api->service: robotiq_set_activate
​xarm_msgs::srv::RobotiqMove​
xarm_api->service: robotiq_set_position
xarm_api->service: robotiq_open
xarm_api->service: robotiq_close
​xarm_msgs::srv::RobotiqGetStatus​
xarm_api->service: robotiq_get_status
​xarm_msgs::srv::SetModbusTimeout​
xarm_api->service: set_tgpio_modbus_timeout
​xarm_msgs::srv::GetSetModbusData​
xarm_api->service: getset_tgpio_modbus_data
​xarm_msgs::srv::TrajCtrl​
xarm_api->service: save_record_trajectory
xarm_api->service: load_trajectory
​xarm_msgs::srv::TrajPlay​
xarm_api->service: playback_trajectory
​xarm_msgs::srv::IdenLoad​
xarm_api->service: iden_tcp_load
xarm_api->service: ft_sensor_iden_load
​xarm_msgs::srv::FtCaliLoad​
xarm_api->service: ft_sensor_cali_load
​xarm_msgs::srv::FtForceConfig​
xarm_api->service: config_force_control
​xarm_msgs::srv::FtForcePid​
xarm_api->service: set_force_control_pid
​xarm_msgs::srv::FtImpedance​
xarm_api->service: set_impedance
xarm_api->service: set_impedance_mbk
xarm_api->service: _set_impedance_config
​xarm_msgs::srv::LinearTrackBackOrigin​
xarm_api->service: set_linear_track_back_origin
​xarm_msgs::srv::LinearTrackSetPos​
xarm_api->service: set_linear_track_pos
​xarm_msgs::srv::PlanPose​
xarm_planner->service: xarm_pose_plan
​xarm_msgs::srv::PlanJoint​
xarm_planner->service: xarm_joint_plan
​xarm_msgs::srv::PlanSingleStraight​
xarm_planner->service: xarm_straight_plan
​xarm_msgs::srv::PlanExec​
xarm_planner->service: xarm_exec_plan
action
​control_msgs::action::GripperCommand​
​
xarm_api->action: xarm_gripper/gripper_action
xarm_ros2
Last modified 1mo ago