Tools Interface

This package handles Niryo’s tools.

Tools interface node (Only for development and debugging)

The ROS Node is used to:

• initialize the Tool Interface.

• start ROS stuffs like services, topics.

Tools Interface Core

It is instantiated by the Niryo Robot Hardware Interface node.

The node:

• initializes the Tool Interface.

• provides services for setting and controlling tools.

• publishes tools states.

It belongs to the ROS namespace: /tools_interface.

Tools motors configuration

Niryo tools are equipped with dynamixels servomotors, therefore they can be configured following the dynamixel protocol.

Here is are the parameters for the motors of all the Niryo robot tools:

tools_params:
    id_list: [11,12,13,31,32]
    type_list: ["xl330","xl330","xl330","xl330","xl330"]
    name_list: ["Standard Gripper", "Large Gripper", "Adaptive Gripper", "Vacuum Pump", "Vacuum Pump v2"]
    params_list: [
        {velocity_profile: 130, acceleration_profile: 60, pid: {p: 400, i: 0, d: 50}},
        {velocity_profile: 130, acceleration_profile: 60, pid: {p: 400, i: 0, d: 50}},
        {velocity_profile: 130, acceleration_profile: 60, pid: {p: 400, i: 0, d: 50}},
        {velocity_profile: 0, acceleration_profile: 0, pid: {p: 400, i: 0, d: 0}},
        {velocity_profile: 80, acceleration_profile: 40, pid: {p: 400, i: 0, d: 0}}
    ]
    temperature_limit: 50 # DO NOT MODIFY THIS VALUE
    shutdown_configuration: 53 # DO NOT MODIFY THIS VALUE

In this yaml file, each index for each list corresponds to a tool. Each tool has a name, an ID on the TTL bus, a type and a set of parameters.

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_hardware/tools/motor	tools_interface/Tool	Publish informations about the tool’s motor (ID, motor type, position, state)

ROS Services

Service Name	Type	Description
/niryo_robot/tools/close_gripper	tools_interface/ToolCommand	Close the gripper
/niryo_robot/tools/open_gripper	tools_interface/ToolCommand	Open the gripper
/niryo_robot/tools/ping_and_set_dxl_tool	tools_interface/PingDxlTool	Ping the given device ID on the bus and set the corresponding tool if found
/niryo_robot/tools/pull_air_vacuum_pump	tools_interface/ToolCommand	Pull air from the vacuum pump
/niryo_robot/tools/push_air_vacuum_pump	tools_interface/ToolCommand	Push air to the vacuum pump
/niryo_robot/tools/reboot	niryo_robot_msgs/Trigger	Reboot the tool’s motor

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_hardware_interface/tools_interface/check_tool_connection_frequency	2.0	N/A	Hz	Frequency at which the tool connection is checked
/niryo_robot_hardware_interface/tools_interface/gripper_timeout	3.0	N/A	seconds	Maximum waiting time before considering that the gripper cannot move anymore (due to contact with an object for example)
/niryo_robot_hardware_interface/tools_interface/tools_params/id_list	None	[11, 12, 13, 31, 32]	string	List of tools IDs on the TTL bus
/niryo_robot_hardware_interface/tools_interface/tools_params/name_list	None	[‘Standard Gripper’, ‘Large Gripper’, ‘Adaptive Gripper’, ‘Vacuum Pump’, ‘Vacuum Pump v2’]	string	List of tools names on the TTL bus
/niryo_robot_hardware_interface/tools_interface/tools_params/params_list	None	[{‘velocity_profile’: 130, ‘acceleration_profile’: 60, ‘pid’: {‘p’: 400, ‘i’: 0, ‘d’: 50}}, {‘velocity_profile’: 130, ‘acceleration_profile’: 60, ‘pid’: {‘p’: 400, ‘i’: 0, ‘d’: 50}}, {‘velocity_profile’: 130, ‘acceleration_profile’: 60, ‘pid’: {‘p’: 400, ‘i’: 0, ‘d’: 50}}, {‘velocity_profile’: 0, ‘acceleration_profile’: 0, ‘pid’: {‘p’: 400, ‘i’: 0, ‘d’: 0}}, {‘velocity_profile’: 80, ‘acceleration_profile’: 40, ‘pid’: {‘p’: 400, ‘i’: 0, ‘d’: 0}}]	string	List of tools parameters on the TTL bus
/niryo_robot_hardware_interface/tools_interface/tools_params/type_list	None	[‘fakeDxl’, ‘fakeDxl’, ‘fakeDxl’, ‘fakeDxl’, ‘fakeDxl’]	string	List of tools motor types on the TTL bus
/niryo_robot_hardware_interface/tools_interface/vacuum_pump_timeout	3.0	N/A	seconds	Maximum waiting time before considering that the vacuum pump motor cannot move anymore (due to contact with an object for example)

ROS Action

Namespace: None