Niryo robot programs manager

This package is in charge of interpreting/running/saving programs. It is used by the former version of Niryo Studio (<= v4.1.2).

Programs manager node

The ROS Node is made of several services to deal with the storage and running of programs.

Calls are not available from the Python ROS Wrapper, as it is made to run its programs with the Python ROS Wrapper.

It belongs to the ROS namespace: /niryo_robot_programs_manager.

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_programs_manager/program_is_running	niryo_robot_programs_manager/ProgramIsRunning	N/A
/niryo_robot_programs_manager/program_list	niryo_robot_programs_manager/ProgramList	N/A
/rosout	rosgraph_msgs/Log	N/A

ROS Services

Service Name	Type	Description
/niryo_robot_programs_manager/execute_program	niryo_robot_programs_manager/ExecuteProgram	N/A
/niryo_robot_programs_manager/execute_program_autorun	niryo_robot_msgs/Trigger	N/A
/niryo_robot_programs_manager/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_programs_manager/get_program	niryo_robot_programs_manager/GetProgram	N/A
/niryo_robot_programs_manager/get_program_autorun_infos	niryo_robot_programs_manager/GetProgramAutorunInfos	N/A
/niryo_robot_programs_manager/get_program_list	niryo_robot_programs_manager/GetProgramList	N/A
/niryo_robot_programs_manager/manage_program	niryo_robot_programs_manager/ManageProgram	N/A
/niryo_robot_programs_manager/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_programs_manager/set_program_autorun	niryo_robot_programs_manager/SetProgramAutorun	N/A
/niryo_robot_programs_manager/stop_program	niryo_robot_msgs/Trigger	N/A

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_programs_manager/autorun_file_name	autorun_config.yaml	N/A	N/A	N/A
/niryo_robot_programs_manager/execute_from_string_program_name	Last Interpreted Blockly Code	N/A	N/A	N/A
/niryo_robot_programs_manager/initialized	True	N/A	N/A	N/A
/niryo_robot_programs_manager/log_level	INFO	N/A	N/A	N/A
/niryo_robot_programs_manager/programs_dir	~/.niryo/simulation/niryo_robot_programs	N/A	N/A	N/A
/niryo_robot_programs_manager/standalone	False	N/A	N/A	N/A

ROS Action

Namespace: None