Niryo robot arm commander

This package is made to interact with the arm through MoveIt! package and command the robot motion.

All commands are firstly received on the actionlib server which:

• Handles concurrent requests.

• Checks if the command can’t be processed due to other factors (ex: learning mode).

• Validates parameters.

• Calls required controllers and returns appropriate status and message.

It belongs to the ROS namespace: /niryo_robot_arm_commander.

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot/blockly/save_trajectory	std_msgs/Int32	Whether a recorded trajectory can be saved to blockly
/niryo_robot/collision_detected	std_msgs/Bool	Whether a collision is detected or not
/niryo_robot/jog_interface/errors	std_msgs/String	Publish jog error message when using the jog interface
/niryo_robot/jog_interface/is_enabled	std_msgs/Bool	Whether the jog interface is enabled or not
/niryo_robot/max_acceleration_scaling_factor	std_msgs/Int32	Publish the maximum acceleration percentage scaling factor
/niryo_robot/max_velocity_scaling_factor	std_msgs/Int32	Publish the maximum velocity percentage scaling factor
/niryo_robot/robot_state	niryo_robot_msgs/RobotState	Publish the robot state (TCP pose with x-axis forward and TCP speed) (deprecated)
/niryo_robot/robot_state_v2	niryo_robot_msgs/RobotState	Publish the robot state (TCP pose with z-axis forward and TCP speed)
/niryo_robot_arm_commander/is_active	std_msgs/Bool	Indicate whether a command is currently running or not
/niryo_robot_arm_commander/learning_trajectory	std_msgs/Bool	Indicates whether a robot is currently learning a trajectory or not
/niryo_robot_arm_commander/trajectory_list	niryo_robot_msgs/BasicObjectArray	List of saved trajectories name & description
/niryo_robot_follow_joint_trajectory_controller/command	trajectory_msgs/JointTrajectory	Command the arm through the FollowJointTrajectory controller via its command topic
/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/goal	control_msgs/FollowJointTrajectoryActionGoal	Command the arm through the FollowJointTrajectory controller via its action server
/rosout	rosgraph_msgs/Log	N/A
/tf_static	tf2_msgs/TFMessage	N/A

Subscribers

Topic Name	Type	Description
/joint_states	sensor_msgs/JointState	Position, velocity and effort of all the joints
/niryo_robot/hardware_interface/collision_detected	std_msgs/Bool	Whether a collision is detected or not
/niryo_robot/learning_mode/state	std_msgs/Bool	Whether the robot is in freemotion mode or not
/niryo_robot/robot_state_v2	niryo_robot_msgs/RobotState	Publish the robot state (TCP pose with z-axis forward and TCP speed)
/niryo_robot_arm_commander/send_jog_command_ik	niryo_robot_arm_commander/CommandJog	Send a jog command to the robot using a pose (Inverse Kinematics)
/niryo_robot_arm_commander/send_jog_joints_command	niryo_robot_arm_commander/CommandJog	Send a jog command to the robot using joints values (Forward Kinematics)
/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/goal	control_msgs/FollowJointTrajectoryActionGoal	Command the arm through the FollowJointTrajectory controller via its action server
/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/result	control_msgs/FollowJointTrajectoryActionResult	N/A
/niryo_robot_follow_joint_trajectory_controller/state	control_msgs/JointTrajectoryControllerState	N/A
/niryo_robot_hardware_interface/end_effector_interface/save_pos_button_status	end_effector_interface/EEButtonStatus	Publish Save Button’s state
/niryo_robot_hardware_interface/hardware_status	niryo_robot_msgs/HardwareStatus	Status of robot’s hardware devices (joints, tools, end effector panel, calibration, etc…)
/niryo_robot_rpi/pause_state	niryo_robot_arm_commander/PausePlanExecution	Publish the current execution state launched when button is pressed”
/tf	tf2_msgs/TFMessage	N/A
/tf_static	tf2_msgs/TFMessage	N/A

ROS Services

Service Name	Type	Description
/niryo_robot/jog_interface/enable	niryo_robot_msgs/SetBool	Enable/disable the jog interface
/niryo_robot/jog_interface/jog_shift_commander	niryo_robot_arm_commander/JogShift	Send a jog command to shift robot’s joints or TCP
/niryo_robot/kinematics/forward	niryo_robot_arm_commander/GetFK	Get TCP pose from joint values with x axis forward (deprecated)
/niryo_robot/kinematics/forward_v2	niryo_robot_arm_commander/GetFK	Get TCP pose from joint values with z axis forward
/niryo_robot/kinematics/inverse	niryo_robot_arm_commander/GetIK	Get joints configuration from TCP pose with x axis forward (deprecated)
/niryo_robot/kinematics/inverse_v2	niryo_robot_arm_commander/GetIK	Get joints configuration from TCP pose with z axis forward
/niryo_robot_arm_commander/compute_waypointed_trajectory	niryo_robot_arm_commander/ComputeTrajectory	Compute a trajectory from a list of waypoints
/niryo_robot_arm_commander/get_joints_limit	niryo_robot_arm_commander/GetJointLimits	N/A
/niryo_robot_arm_commander/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_arm_commander/get_trajectory	niryo_robot_arm_commander/GetTrajectory	Get a given saved trajectory
/niryo_robot_arm_commander/get_trajectory_list	niryo_robot_msgs/GetNameDescriptionList	Get the list of saved trajectory name & description
/niryo_robot_arm_commander/is_active	niryo_robot_msgs/GetBool	Indicate whether a command is currently running or not
/niryo_robot_arm_commander/manage_trajectory	niryo_robot_arm_commander/ManageTrajectory	Save/Edit/Delete/Execute a trajectory
/niryo_robot_arm_commander/set_acceleration_factor	niryo_robot_msgs/SetInt	Set the acceleration factor percentage (0% - 200%)
/niryo_robot_arm_commander/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_arm_commander/set_max_velocity_scaling_factor	niryo_robot_msgs/SetInt	Set the percentage of maximum speed (0% - 200%)
/niryo_robot_arm_commander/stop_command	niryo_robot_msgs/Trigger	Stop the current command
/niryo_robot_arm_commander/tf2_frames	tf2_msgs/FrameGraph	N/A

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_arm_commander/active_publish_rate_sec	0.1	N/A	seconds	Publish rate for the topic which checks if a goal is currently active or not
/niryo_robot_arm_commander/allow_replanning	True	N/A	bool	Whether replanning is allowed or not (MoveIt! parameter)
/niryo_robot_arm_commander/command_still_active_max_tries	3	N/A	int	Maximum number of tries to check if a command is still active before aborting the new command
/niryo_robot_arm_commander/compute_plan_max_tries	3	N/A	int	Maximum number of tries to compute a plan before aborting the command
/niryo_robot_arm_commander/display_trajectories	False	N/A	bool	Whether the trajectories should be displayed in Rviz or not
/niryo_robot_arm_commander/eef_step	0.02	N/A	meters	Step between generated waypoints for the end effector trajectory
/niryo_robot_arm_commander/error_tolerance_joint	[0.2, 0.2, 0.2, 0.2, 0.2, 0.2]	N/A	radians	Error tolerance for joints when using the jog controller
/niryo_robot_arm_commander/goal_joint_tolerance	0.0001	N/A	radians	Goal joint tolerance for the MoveIt! motion planner
/niryo_robot_arm_commander/goal_orientation_tolerance	0.001	N/A	radians	Goal orientation tolerance for the MoveIt! motion planner
/niryo_robot_arm_commander/goal_position_tolerance	0.0001	N/A	meters	Goal position tolerance for the MoveIt! motion planner
/niryo_robot_arm_commander/hardware_version	ned2	N/A	string	Hardware version of the robot
/niryo_robot_arm_commander/initialized	True	N/A	bool	Whether the arm commander is initialized or not
/niryo_robot_arm_commander/jog_enable_publish_rate	1.0	N/A	N/A	N/A
/niryo_robot_arm_commander/jog_limits/joints	0.2	N/A	radians	Joints limits applied to clamp the jog command
/niryo_robot_arm_commander/jog_limits/rotation	0.5	N/A	radians	Rotation limits applied to clamp the jog command
/niryo_robot_arm_commander/jog_limits/translation	0.05	N/A	meters	Translation limits applied to clamp the jog command
/niryo_robot_arm_commander/jog_timer_rate_sec	0.15	N/A	seconds	Publish rate for jog controller
/niryo_robot_arm_commander/joint_controller_name	/niryo_robot_follow_joint_trajectory_controller	N/A	string	Name of the joint trajectory controller
/niryo_robot_arm_commander/joint_names	[‘joint_1’, ‘joint_2’, ‘joint_3’, ‘joint_4’, ‘joint_5’, ‘joint_6’]	N/A	string	Names of the joints of the robot
/niryo_robot_arm_commander/jump_threshold	0.0	N/A	radians	Jump threshold for the MoveIt! motion planner
/niryo_robot_arm_commander/log_level	INFO	N/A	N/A	N/A
/niryo_robot_arm_commander/move_group_commander_name	arm	N/A	string	Name of the group that MoveIt is controlling
/niryo_robot_arm_commander/reference_frame	world	N/A	string	Reference frame used by MoveIt!
/niryo_robot_arm_commander/time_without_jog_TCP_limit	0.5	N/A	seconds	Time without jog command before disabling the jog controller
/niryo_robot_arm_commander/trajectory_frequency	7	N/A	Hz	Waypoint acquisition frequency while recording a trajectory
/niryo_robot_arm_commander/trajectory_minimum_timeout	3.0	N/A	N/A	N/A

ROS Action

Namespace: robot_action

Publishers

Topic Name	Type	Description
/niryo_robot_arm_commander/robot_action/feedback	niryo_robot_arm_commander/RobotMoveActionFeedback	N/A
/niryo_robot_arm_commander/robot_action/result	niryo_robot_arm_commander/RobotMoveActionResult	N/A
/niryo_robot_arm_commander/robot_action/status	actionlib_msgs/GoalStatusArray	N/A

Subscribers

Topic Name	Type	Description
/niryo_robot_arm_commander/robot_action/cancel	actionlib_msgs/GoalID	N/A
/niryo_robot_arm_commander/robot_action/goal	niryo_robot_arm_commander/RobotMoveActionGoal	Command the arm through an action server

The ArmMoveCommand message

This message is used when you want to send a move goal to the robot via the action server. You need to fill the cmd_type field with one of the listed constant depending on the type of command you need to send. Then, you can fill the data field corresponding to your cmd_type.

For example, if you command type is EXECUTE_TRAJ, you need to fill dist_smoothing and list_poses.

int32 JOINTS = 0            # uses joints 
int32 POSE = 1              # uses position and rpy 
int32 POSITION = 2          # uses position
int32 RPY = 3               # uses rpy
int32 POSE_QUAT = 4         # uses position and orientation
int32 LINEAR_POSE = 5       # uses position and rpy
int32 SHIFT_POSE = 6        # uses shift
int32 SHIFT_LINEAR_POSE = 7 # uses shift
int32 EXECUTE_TRAJ = 8      # uses dist_smoothing, list_poses
int32 DRAW_SPIRAL = 9
int32 DRAW_CIRCLE = 10
int32 EXECUTE_FULL_TRAJ = 11
int32 EXECUTE_RAW_TRAJ = 12

int32 cmd_type

int32 LEGACY = 1
int32 DH_CONVENTION = 2
int32 tcp_version

float64[] joints
geometry_msgs/Point position
niryo_robot_msgs/RPY rpy
geometry_msgs/Quaternion orientation
niryo_robot_arm_commander/ShiftPose shift

geometry_msgs/Pose[] list_poses
float32 dist_smoothing

trajectory_msgs/JointTrajectory trajectory

float64[] args