End Effector Interface
End Effector Interface node (Only for development and debugging)
- The ROS Node is used to:
initialize the End Effector Interface.
Expose ROS interfaces to control or get states from the end effector panel.
End Effector Interface Core
It is instantiated by the Niryo Robot Hardware Interface node.
- The node:
interfaces with the TTL Driver.
initializes End Effector parameters.
retrieves End Effector data from TTL driver.
publishes the status of buttons.
publishes the collision detection status.
starts service for the panel IO States.
It belongs to the ROS namespace: /end_effector_interface.
Package Documentation
For more informations about ROS topics, services and parameters, check the Niryo robot hardware interface documentation.
ROS topics
Publishers
Topic Name |
Type |
Description |
|---|---|---|
/niryo_robot/end_effector_interface/collision_detected |
Whether a collision is detected or not |
|
/niryo_robot_hardware_interface/end_effector_interface/custom_button_status |
Publish Custom Button’s state |
|
/niryo_robot_hardware_interface/end_effector_interface/free_drive_button_status |
Publish Free Motion Button’s state |
|
/niryo_robot_hardware_interface/end_effector_interface/io_state |
States of the IOs on the end effector panel |
|
/niryo_robot_hardware_interface/end_effector_interface/save_pos_button_status |
Publish Save Button’s state |
ROS Services
Service Name |
Type |
Description |
|---|---|---|
/niryo_robot_hardware_interface/end_effector_interface/set_ee_io_state |
N/A |
ROS Parameters
Parameter Name |
Default value |
Simulation value |
Unit |
Description |
|---|---|---|---|---|
/niryo_robot_hardware_interface/end_effector_interface/button_0/type |
None |
free_drive |
string |
Type of the button 0 on the end effector panel |
/niryo_robot_hardware_interface/end_effector_interface/button_1/type |
None |
save_position |
string |
Type of the button 1 on the end effector panel |
/niryo_robot_hardware_interface/end_effector_interface/button_2/type |
None |
custom |
string |
Type of the button 2 on the end effector panel |
/niryo_robot_hardware_interface/end_effector_interface/check_end_effector_status_frequency |
40.0 |
N/A |
Hz |
Frequency at which the end effector status is checked |
/niryo_robot_hardware_interface/end_effector_interface/collision_thresh |
None |
5 |
N/A |
N/A |
/niryo_robot_hardware_interface/end_effector_interface/end_effector_id |
0 |
N/A |
int |
ID of the end effector in the TTL bus |
/niryo_robot_hardware_interface/end_effector_interface/hardware_type |
None |
fake_end_effector |
string |
Type of the end effector |
ROS Action
Namespace: None