Niryo robot tools commander

Provides functionalities to setup, control and get feedbacks from the end-effector and accessories for Ned robots.

This package allows to manage the TCP (Tool Center Point) of the robot. If the functionality is activated, all the movements (in Cartesian coordinates [x, y, z, roll, pitch, yaw]) of the robot will be performed according to this TCP. The same program can then work with several tools by adapting the TCP transformation to them. By default this feature is disabled, but can be enabled through a service.

It belongs to the ROS namespace: /niryo_robot_tools_commander.

Tool IDs

Each Niryo tool is bound to a specific ID in order to be correctly recognised on the TTL bus.

Here is the list of the tools and their corresponding IDs:

Niryo Tool IDs Table

Name

ID

Image

Standard gripper

11

 Standard gripper

Large gripper

12

 Large gripper

Adaptive gripper

13

 Adaptive gripper

Electromagnet

30

 Electromagnet

Vacuum pump

31

 Vacuum pump

Vacuum pump v2

32

 Vacuum pump v2

Tools commander API functions

Tools commander 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 playing sound via Python ROS Wrapper will looks like:

from niryo_robot_tools_commander.api import ToolsRosWrapper, ToolID

tools = ToolsRosWrapper()
tools.update_tool() # Detect and equip the current tool
tools.open_gripper() # Supposing you have connected a gripper
This class allows you to control the robot tools via the internal API.

API list

class niryo_robot_tools_commander.api.tools_ros_wrapper.ToolsRosWrapper(service_timeout=0.2)

Bases: AbstractNiryoRosWrapper

activate_electromagnet(pin_id)

Activates electromagnet associated to electromagnet_id on pin_id

Parameters:

pin_id (PinID) – Pin ID

Returns:

status, message

Return type:

(int, str)

close_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=50)

Closes gripper with a speed ‘speed’

Parameters:

  • speed (int) – Default -> 500

  • max_torque_percentage (int) – Default -> 100

  • hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

deactivate_electromagnet(pin_id)

Deactivates electromagnet associated to electromagnet_id on pin_id

Parameters:

pin_id (PinID) – Pin ID

Returns:

status, message

Return type:

(int, str)

enable_tcp(enable=True)

Enables or disables the TCP function (Tool Center Point). If activation is requested, the last recorded TCP value will be applied. The default value depends on the gripper equipped. If deactivation is requested, the TCP will be coincident with the tool_link.

Parameters:

enable (bool) – True to enable, False otherwise.

Returns:

status, message

Return type:

(int, str)

get_current_tool_id()

Uses /niryo_robot_tools_commander/current_id topic to get current tool id

Returns:

Tool Id

Return type:

ToolID

get_tcp()

Returns the TCP state :return: the tcp (enabled, position and orientation) :rtype: Tool msg object

grasp_with_tool(pin_id='')

Grasps with the tool linked to tool_id. This action corresponds to - Close gripper for Grippers - Pull Air for Vacuum pump - Activate for Electromagnet

Parameters:

pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet

Returns:

status, message

Return type:

(int, str)

open_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=20)

Opens gripper with a speed ‘speed’

Parameters:

  • speed (int) – Default -> 500

  • max_torque_percentage (int) – Default -> 100

  • hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

pull_air_vacuum_pump()

Pulls air

Returns:

status, message

Return type:

(int, str)

push_air_vacuum_pump()

Pulls air

Returns:

status, message

Return type:

(int, str)

release_with_tool(pin_id='')

Releases with the tool associated to tool_id. This action corresponds to - Open gripper for Grippers - Push Air for Vacuum pump - Deactivate for Electromagnet

Parameters:

pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet

Returns:

status, message

Return type:

(int, str)

reset_tcp()

Resets the TCP (Tool Center Point) transformation. The TCP will be reset according to the tool equipped.

Returns:

status, message

Return type:

(int, str)

set_tcp(x, y, z, roll, pitch, yaw)

Activates the TCP function (Tool Center Point) and defines the transformation between the tool_link frame and the TCP frame.

Parameters:

  • x (float) –

  • y (float) –

  • z (float) –

  • roll (float) –

  • pitch (float) –

  • yaw (float) –

Returns:

status, message

Return type:

(int, str)

setup_electromagnet(pin_id)

Setups electromagnet on pin

Parameters:

pin_id (PinID) – Pin ID

Returns:

status, message

Return type:

(int, str)

tool_reboot()

Reboots the motor of the tool equipped. Useful when an Overload error occurs. (cf HardwareStatus)

Returns:

status, message

Return type:

(int, str)

update_tool()

Calls service niryo_robot_tools_commander/update_tool to update tool

Returns:

status, message

Return type:

(int, str)

class niryo_robot_tools_commander.api.tools_ros_wrapper_enums.ToolID

Bases: object

Tools IDs (need to match tools ids in niryo_robot_tools_commander package)

ELECTROMAGNET_1 = 30
GRIPPER_1 = 11
GRIPPER_2 = 12
GRIPPER_3 = 13
GRIPPER_4 = 14
NONE = 0
VACUUM_PUMP_1 = 31
VACUUM_PUMP_2 = 32

Package Documentation

ROS topics

Publishers

Topic Name

Type

Description

/niryo_robot_tools_commander/current_id

std_msgs/Int32

Publish the current detected tool ID

/niryo_robot_tools_commander/tcp

niryo_robot_tools_commander/TCP

Publish the TCP (Tool Center Point) state (enabled/disabled) and transformation between the tool_link and the TCP. The end-effector is considered with the x-axis forward (deprecated)

/niryo_robot_tools_commander/tcp_v2

niryo_robot_tools_commander/TCP

Publish the TCP (Tool Center Point) state (enabled/disabled) and transformation between the tool_link and the TCP. The end-effector is considered with the z-axis forward

/rosout

rosgraph_msgs/Log

N/A

/tf_static

tf2_msgs/TFMessage

N/A

Subscribers

Topic Name

Type

Description

/niryo_robot_hardware/tools/motor

tools_interface/Tool

Publish informations about the tool’s motor (ID, motor type, position, state)

/tf

tf2_msgs/TFMessage

N/A

/tf_static

tf2_msgs/TFMessage

N/A

ROS Services

Service Name

Type

Description

/niryo_robot_tools_commander/enable_tcp

niryo_robot_msgs/SetBool

Enable or disable the TCP (Tool Center Point) functionality. When we activate it, the end-effector transform will be the last one saved since the robot started. By default it will be the one of the equipped tool.

/niryo_robot_tools_commander/equip_electromagnet

niryo_robot_msgs/SetInt

Equip the electromagnet with the motor ID given as parameter

/niryo_robot_tools_commander/get_loggers

roscpp/GetLoggers

N/A

/niryo_robot_tools_commander/reset_tcp

niryo_robot_msgs/Trigger

Reset the TCP (Tool Center Point) transform. By default it will be the one of the equipped tool.

/niryo_robot_tools_commander/set_logger_level

roscpp/SetLoggerLevel

N/A

/niryo_robot_tools_commander/set_tcp

niryo_robot_tools_commander/SetTCP

Activate the TCP (Tool Center Point) functionality and defines a new TCP transformation.

/niryo_robot_tools_commander/tf2_frames

tf2_msgs/FrameGraph

N/A

/niryo_robot_tools_commander/update_tool

niryo_robot_msgs/Trigger

Ping/scan the TTL bus for a dxl motor flashed with an ID corresponding to a Niryo tool and equip it (if found)

ROS Parameters

Parameter Name

Default value

Simulation value

Unit

Description

/niryo_robot_tools_commander/command_list/activate_digital_io

21

N/A

int

ID of the command to activate the digital IO of the electromagnet

/niryo_robot_tools_commander/command_list/close_gripper

2

N/A

int

ID of the command to close the gripper

/niryo_robot_tools_commander/command_list/deactivate_digital_io

22

N/A

int

ID of the command to deactivate the digital IO of the electromagnet

/niryo_robot_tools_commander/command_list/open_gripper

1

N/A

int

ID of the command to open the gripper

/niryo_robot_tools_commander/command_list/pull_air_vacuum_pump

10

N/A

int

ID of the command to pull air from the vacuum pump

/niryo_robot_tools_commander/command_list/push_air_vacuum_pump

11

N/A

int

ID of the command to push air to the vacuum pump

/niryo_robot_tools_commander/command_list/setup_digital_io

20

N/A

int

ID of the command to setup the digital IO of the electromagnet

/niryo_robot_tools_commander/gazebo

False

N/A

bool

Whether the tool should be simulated in gazebo or not

/niryo_robot_tools_commander/hardware_version

ned2

N/A

string

Hardware version of the robot

/niryo_robot_tools_commander/initialized

True

N/A

bool

Whether the tool commander is initialized or not

/niryo_robot_tools_commander/log_level

INFO

N/A

N/A

N/A

/niryo_robot_tools_commander/move_group_tool_commander_name

tool

N/A

string

Name of the group that MoveIt is controlling for the tool

/niryo_robot_tools_commander/namespace_topics

/niryo_robot/tools/

N/A

string

Namespace of the tools commander topics

/niryo_robot_tools_commander/reference_frame

world

N/A

string

Reference frame used by MoveIt! for the tool

/niryo_robot_tools_commander/simu_gripper

True

N/A

bool

Whether the tool should be simulated or not

/niryo_robot_tools_commander/state_dict/gripper_close

17

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/gripper_open

16

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/ping_error

2

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/ping_ok

1

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/ros_communication_problem

160

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/timeout

4

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/vacuum_pump_pulled

32

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/vacuum_pump_pushed

33

N/A

N/A

N/A

/niryo_robot_tools_commander/state_dict/wrong_id

3

N/A

N/A

N/A

/niryo_robot_tools_commander/tool_list

[{‘name’: ‘No Tool’, ‘type’: ‘no_tool’, ‘id’: 0, ‘specs’: [], ‘available_commands’: [], ‘transformation’: {‘translation’: [0.0, 0.0, 0.0], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Gripper 1’, ‘type’: ‘gripper’, ‘id’: 11, ‘available_commands’: [‘open_gripper’, ‘close_gripper’], ‘specs’: {‘open_position’: 2200, ‘open_hold_torque’: 200, ‘open_max_torque’: 200, ‘close_position’: 900, ‘close_hold_torque’: -200, ‘close_max_torque’: -200, ‘open_speed’: 300, ‘close_speed’: 300, ‘torque_limit’: {‘min’: -200, ‘max’: 200}}, ‘transformation’: {‘translation’: [0.0, 0.0, 0.085], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Gripper 2’, ‘type’: ‘gripper’, ‘id’: 12, ‘available_commands’: [‘open_gripper’, ‘close_gripper’], ‘specs’: {‘open_position’: 2380, ‘open_hold_torque’: 300, ‘open_max_torque’: 300, ‘close_position’: 1350, ‘close_hold_torque’: -300, ‘close_max_torque’: -300, ‘open_speed’: 300, ‘close_speed’: 300, ‘torque_limit’: {‘min’: -300, ‘max’: 300}}, ‘transformation’: {‘translation’: [0.0, 0.0, 0.11], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Gripper 3’, ‘type’: ‘gripper’, ‘id’: 13, ‘available_commands’: [‘open_gripper’, ‘close_gripper’], ‘specs’: {‘open_position’: 2840, ‘open_hold_torque’: 200, ‘open_max_torque’: 200, ‘close_position’: 1859, ‘close_hold_torque’: -200, ‘close_max_torque’: -200, ‘torque_limit’: {‘min’: -200, ‘max’: 200}}, ‘transformation’: {‘translation’: [0.0, 0.0, 0.114], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Electromagnet 1’, ‘type’: ‘electromagnet’, ‘id’: 30, ‘available_commands’: [‘activate_digital_io’, ‘deactivate_digital_io’, ‘setup_digital_io’], ‘specs’: [], ‘transformation’: {‘translation’: [0.0, 0.0, 0.027], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Vacuum Pump 1’, ‘type’: ‘vacuum_pump’, ‘id’: 31, ‘available_commands’: [‘pull_air_vacuum_pump’, ‘push_air_vacuum_pump’], ‘specs’: {‘pull_air_position’: 0, ‘pull_air_max_torque’: 1000, ‘pull_air_hold_torque’: 800, ‘push_air_position’: 1900, ‘push_air_max_torque’: -1000, ‘torque_limit’: {‘min’: -1000, ‘max’: 1000}}, ‘transformation’: {‘translation’: [0.0, 0.0, 0.045], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}, {‘name’: ‘Vacuum Pump 2’, ‘type’: ‘vacuum_pump’, ‘id’: 32, ‘available_commands’: [‘pull_air_vacuum_pump’, ‘push_air_vacuum_pump’], ‘specs’: {‘pull_air_position’: 600, ‘pull_air_max_torque’: 1000, ‘pull_air_hold_torque’: 800, ‘push_air_position’: 1800, ‘push_air_max_torque’: -1000, ‘torque_limit’: {‘min’: -1000, ‘max’: 1000}}, ‘transformation’: {‘translation’: [0.0, 0.0, 0.035], ‘quaternion’: [0.0, 0.0, 0.0, 1.0]}}]

N/A

string

List of Niryo tools available for the robot with their configurations

ROS Action

Namespace: action_server

Publishers

Topic Name

Type

Description

/niryo_robot_tools_commander/action_server/feedback

niryo_robot_tools_commander/ToolActionFeedback

N/A

/niryo_robot_tools_commander/action_server/result

niryo_robot_tools_commander/ToolActionResult

N/A

/niryo_robot_tools_commander/action_server/status

actionlib_msgs/GoalStatusArray

N/A

Subscribers

Topic Name

Type

Description

/niryo_robot_tools_commander/action_server/cancel

actionlib_msgs/GoalID

N/A

/niryo_robot_tools_commander/action_server/goal

niryo_robot_tools_commander/ToolActionGoal

Command the end-effector throught an action server

The ToolCommand message

This message is used when you want to send a goal to the robot’s end-effector 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 and the correct tool_id. Then, you can fill the data field corresponding to your cmd_type.

For example, if you command type is OPEN_GRIPPER, you need to fill max_torque_percentage and hold_torque_percentage.

# Gripper
int8 OPEN_GRIPPER = 1
int8 CLOSE_GRIPPER = 2

# Vacuump pump
int8 PULL_AIR_VACUUM_PUMP = 10
int8 PUSH_AIR_VACUUM_PUMP = 11

# Tools controlled by digital I/Os
int8 SETUP_DIGITAL_IO = 20
int8 ACTIVATE_DIGITAL_IO = 21
int8 DEACTIVATE_DIGITAL_IO = 22

uint8 cmd_type

# Gripper1= 11, Gripper2=12, Gripper3=13, VacuumPump=31, VacuumPumpV2=32, Electromagnet=30
int8 tool_id

# if gripper Ned1/One
uint16 speed

# if gripper Ned2
uint8 max_torque_percentage
uint8 hold_torque_percentage

# if vacuum pump or electromagnet grove
bool activate

# if tool is set by digital outputs (electromagnet)
string gpio