Niryo robot user interface

This package implements a TCP server which handles user requests and also system-related features like I/Os, LED and fans…

It is used by Pyniryo to communicate with the robot.

You can find more informations about how to use the TCP server documentation here.

It belongs to the ROS namespace: /niryo_robot_user_interface.

Package Documentation

Topic Name	Type	Description
/niryo_robot_blockly/break_point	std_msgs/Int32	N/A
/niryo_robot_blockly/highlight_block	std_msgs/String	N/A
/niryo_robot_user_interface/is_client_connected	std_msgs/Bool	Check whether a pyniryo client is connected or not
/rosout	rosgraph_msgs/Log	N/A

Topic Name	Type	Description
/niryo_robot/collision_detected	std_msgs/Bool	Whether a collision is detected or not
/niryo_robot_hardware_interface/end_effector_interface/custom_button_status	end_effector_interface/EEButtonStatus	Publish Custom Button’s state
/niryo_robot_sound/sound	std_msgs/String	Publish the sound being played
/niryo_robot_sound/sound_database	niryo_robot_sound/SoundList	Publish the list of available sounds and their durations on the robot

Service Name	Type	Description
/niryo_robot_user_interface/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_user_interface/set_logger_level	roscpp/SetLoggerLevel	N/A
/ping	niryo_robot_msgs/Trigger	N/A

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_user_interface/initialized	True	N/A	bool	Whether the TCP server is initialized or not
/niryo_robot_user_interface/ip_address		N/A	string	IP address of the TCP server (default to localhost)
/niryo_robot_user_interface/log_level	INFO	N/A	N/A	N/A
/niryo_robot_user_interface/tcp_port	40001	N/A	int	Port of the TCP server

Namespace: None