Niryo robot programs manager v2

Note

This package is the new version of the former Niryo robot programs manager package who was in charge of is in charge of interpreting/running/saving programs.

It is in charge of interpreting/running/saving blocky/python programs.

It belongs to the ROS namespace: /niryo_robot_programs_manager.

Autorun program

The autorun program is a specific program which is bound to the top button of your Ned robot.

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_programs_manager_v2/program_list	niryo_robot_programs_manager_v2/ProgramList	List of saved programs name, description, storage path & code
/rosout	rosgraph_msgs/Log	N/A

ROS Services

Service Name	Type	Description
/niryo_robot_programs_manager_v2/create_program	niryo_robot_programs_manager_v2/CreateProgram	Create and save a new program
/niryo_robot_programs_manager_v2/delete_program	niryo_robot_programs_manager_v2/DeleteProgram	Delete a saved program
/niryo_robot_programs_manager_v2/execute_program_autorun	niryo_robot_msgs/Trigger	Executes autorun program
/niryo_robot_programs_manager_v2/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_programs_manager_v2/get_program	niryo_robot_programs_manager_v2/GetProgram	Get a saved program
/niryo_robot_programs_manager_v2/get_program_autorun_infos	niryo_robot_programs_manager_v2/GetProgramAutorunInfos	Get autorun settings
/niryo_robot_programs_manager_v2/get_program_list	niryo_robot_programs_manager_v2/GetProgramList	Get the list of saved programs name, description, storage path & code
/niryo_robot_programs_manager_v2/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_programs_manager_v2/set_program_autorun	niryo_robot_programs_manager_v2/SetProgramAutorun	Set autorun settings
/niryo_robot_programs_manager_v2/stop_execution	niryo_robot_msgs/Trigger	Stop the current running program
/niryo_robot_programs_manager_v2/update_program	niryo_robot_programs_manager_v2/UpdateProgram	Update a saved program

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_programs_manager_v2/initialized	True	N/A	N/A	N/A
/niryo_robot_programs_manager_v2/log_level	INFO	N/A	N/A	N/A
/niryo_robot_programs_manager_v2/programs_dir	~/niryo_robot_saved_files/niryo_robot_programs	~/niryo_robot_saved_files/niryo_robot_programs	string	Path to the Programs storage folder

ROS Action

Namespace: execute_program

Publishers

Topic Name	Type	Description
/niryo_robot_programs_manager_v2/execute_program/cancel	actionlib_msgs/GoalID	N/A
/niryo_robot_programs_manager_v2/execute_program/feedback	niryo_robot_programs_manager_v2/ExecuteProgramActionFeedback	N/A
/niryo_robot_programs_manager_v2/execute_program/goal	niryo_robot_programs_manager_v2/ExecuteProgramActionGoal	Executes a saved program or a given python code
/niryo_robot_programs_manager_v2/execute_program/result	niryo_robot_programs_manager_v2/ExecuteProgramActionResult	N/A
/niryo_robot_programs_manager_v2/execute_program/status	actionlib_msgs/GoalStatusArray	N/A

Subscribers

Topic Name	Type	Description
/niryo_robot_programs_manager_v2/execute_program/cancel	actionlib_msgs/GoalID	N/A
/niryo_robot_programs_manager_v2/execute_program/feedback	niryo_robot_programs_manager_v2/ExecuteProgramActionFeedback	N/A
/niryo_robot_programs_manager_v2/execute_program/goal	niryo_robot_programs_manager_v2/ExecuteProgramActionGoal	Executes a saved program or a given python code
/niryo_robot_programs_manager_v2/execute_program/result	niryo_robot_programs_manager_v2/ExecuteProgramActionResult	N/A
/niryo_robot_programs_manager_v2/execute_program/status	actionlib_msgs/GoalStatusArray	N/A

The ExecuteProgram action

This message is used when you want to execute a program to the robot via the action server. You need to fill the program_id with the ID of your saved program or the code_string field with a python code if you want to execute a program which is not saved.

# goal
string program_id
string code_string
---
# result
int16 status
string message
---
# feedback
string output