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