Niryo robot status

The package listens to robot topics to deduce its current state. It manages the status of the robot, the status of the logs and informs about the overheating of the Raspberry PI and the joints out of bounds.

It belongs to the ROS namespace: /niryo_robot_status.

Robot status

Niryo Robot Status Table

Name	Description	Troubleshoot
UPDATE	Robot update in progress	Just wait and be patient :)
REBOOT	The robot is rebooting
SHUTDOWN	The robot is being shutdown
FATAL_ERROR	ROS crash	Please restart the robot
MOTOR_ERROR	Motor voltage error, overheating, overload	Check the error code on Niryo Studio. Restart the robot and check the wiring. If the problem persists, contact customer service
COLLISION	Arm collision detected	Restart your movement or switch to learning mode to remove this error.
USER_PROGRAM_ERROR	User program error	Launch a movement or switch to learning mode to remove this error.
UNKNOWN	Node not initialized
BOOTING	ROS a and the Raspberry are booting up	If the startup seems to timeout, restart the robot electrically. If the problem persists, update the robot with ssh, change the SD card or contact customer service.
CALIBRATION_NEEDED	New calibration requested	Run a new calibration before processing any movement.
CALIBRATION_IN_PROGRESS	Calibration in progress (Ned2 only)	If the calibration fails or takes longer than 30 seconds. The status will return to CALIBRATION_NEED.
LEARNING_MODE	Free motion enabled, the torques are disabled
STANDBY	Free motion disabled, the torques are enabled and no user program is running
MOVING	A single motion or jog is being processed and no user program is running
RUNNING_AUTONOMOUS	A user program is running and the torques are enabled
RUNNING_DEBUG	A debug procedure is running	A short press on the top button cancels it.
PAUSE	User program error	A short press on the top button resumes the program, a long press (on Ned2) cancels the program execution. After 30 seconds, the program stops automatically.
LEARNING_MODE_AUTONOMOUS	A user program is running and the torques are disabled
LEARNING_TRAJECTORY	The robot is generating a trajectory from its motions
ESTOP	The robot is in emergency stop (Ned3pro only)	You must release the emergency stop button

Robot status API functions

Robot status ROS wrapper

In order to control the robot more easily than calling each topics & services one by one, a Python ROS Wrapper has been built on top of ROS.

For instance, a script which shutdowns the robot via Python ROS Wrapper will looks like:

from niryo_robot_status.api import RobotStatusRosWrapper

robot_status = RobotStatusRosWrapper()
robot_status.shutdown()

API list

class niryo_robot_status.api.robot_status_ros_wrapper.RobotStatusRosWrapper(service_timeout=1)

Bases: object

prepare_update()

reboot()

shutdown()

exception niryo_robot_status.api.robot_status_ros_wrapper.RobotStatusRosWrapperException

Bases: Exception

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_status/heartbeat	std_msgs/Empty	N/A
/niryo_robot_status/robot_status	niryo_robot_status/RobotStatus	Publish the robot, log, overheating and joints out of bounds status
/rosout	rosgraph_msgs/Log	N/A

Subscribers

Topic Name	Type	Description
/joint_states	sensor_msgs/JointState	Position, velocity and effort of all the joints
/niryo_robot/collision_detected	std_msgs/Bool	Whether a collision is detected or not
/niryo_robot/jog_interface/is_enabled	std_msgs/Bool	Whether the jog interface is enabled or not
/niryo_robot/learning_mode/state	std_msgs/Bool	Whether the robot is in freemotion mode or not
/niryo_robot_arm_commander/is_active	std_msgs/Bool	Indicate whether a command is currently running or not
/niryo_robot_arm_commander/is_debug_motor_active	std_msgs/Bool	N/A
/niryo_robot_arm_commander/learning_trajectory	std_msgs/Bool	Indicates whether a robot is currently learning a trajectory or not
/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_programs_manager_v2/execute_program/status	actionlib_msgs/GoalStatusArray	N/A
/niryo_robot_rpi/estop_status	std_msgs/Bool	N/A
/niryo_robot_rpi/pause_state	niryo_robot_arm_commander/PausePlanExecution	Publish the current execution state launched when button is pressed”
/niryo_robot_user_interface/is_client_connected	std_msgs/Bool	Check whether a pyniryo client is connected or not
/ping_pyniryo	std_msgs/Bool	Check whether a pyniryo2 client is running or not
/rosout_agg	rosgraph_msgs/Log	N/A

ROS Services

Service Name	Type	Description
/niryo_robot_status/advertise_shutdown	niryo_robot_msgs/AdvertiseShutdown	Notify of a shutdown request
/niryo_robot_status/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_status/ping_ros_wrapper	niryo_robot_msgs/Ping	N/A
/niryo_robot_status/set_logger_level	roscpp/SetLoggerLevel	N/A

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_status/check_nodes_frequency	0.2	N/A	N/A	N/A
/niryo_robot_status/initialisation_params	[‘/niryo_robot_arm_commander/initialized’, ‘/niryo_robot_poses_handlers/initialized’, ‘/niryo_robot_programs_manager/initialized’, ‘/niryo_robot_programs_manager_v2/initialized’, ‘/niryo_robot_tools_commander/initialized’]	N/A	N/A	N/A
/niryo_robot_status/log_level	INFO	N/A	N/A	N/A
/niryo_robot_status/node_logs	[‘/niryo_robot_hardware_interface’, ‘/move_group’, ‘/controller_spawner’, ‘/niryo_robot_programs_manager’, ‘/niryo_robot_programs_manager_v2’, ‘/niryo_robot_rpi’, ‘/niryo_robot_user_interface’, ‘/niryo_robot_poses_handlers’, ‘/niryo_robot_tools_commander’, ‘/niryo_robot_arm_commander’]	N/A	N/A	N/A
/niryo_robot_status/vital_nodes_common	[‘/controller_spawner’, ‘/move_group’, ‘/niryo_robot_arm_commander’, ‘/niryo_robot_hardware_interface’, ‘/niryo_robot_poses_handlers’, ‘/niryo_robot_programs_manager’, ‘/niryo_robot_programs_manager_v2’, ‘/niryo_robot_rpi’, ‘/niryo_robot_status’, ‘/niryo_robot_tools_commander’, ‘/niryo_robot_user_interface’, ‘/robot_state_publisher’, ‘/rosapi’, ‘/rosout’, ‘/tf2_web_republisher’]	N/A	N/A	N/A
/niryo_robot_status/vital_nodes_real	[‘/niryo_robot_vision’, ‘/niryo_robot_modbus’]	N/A	N/A	N/A

ROS Action

Namespace: None

The RobotStatus message

int8 UPDATE=-7
int8 REBOOT=-6
int8 SHUTDOWN=-5
int8 FATAL_ERROR=-4     # Node crash
int8 MOTOR_ERROR=-3     # Electrical/overload or disconnected motor error
int8 COLLISION=-2
int8 USER_PROGRAM_ERROR=-1
int8 UNKNOWN=0
int8 BOOTING=1          # Robot is booting
int8 REBOOT_MOTOR=2
int8 CALIBRATION_NEEDED=3
int8 CALIBRATION_IN_PROGRESS=4
int8 LEARNING_MODE=5
int8 STANDBY=6          # Torque ON
int8 MOVING=7           # Moving with NiryoStudio interface or ros topics without user program
int8 RUNNING_AUTONOMOUS=8   # User program is running
int8 RUNNING_DEBUG=9    # Debug program is running
int8 PAUSE=10           # User program paused
int8 LEARNING_MODE_AUTONOMOUS=11    # User program is running + Learning mode activated
int8 LEARNING_TRAJECTORY = 12
int8 ESTOP = 13

int8 robot_status
string robot_status_str
string robot_message

int8 FATAL=-3
int8 ERROR=-2
int8 WARN=-1
int8 NONE=0

int8 logs_status
string logs_status_str
string logs_message

bool out_of_bounds
bool rpi_overheating