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Introduction

  • ROS Stack overview
  • Use your Niryo Robot
    • Connecting to the Robot
    • Robot setup
      • System setup
      • Home setup
      • Services and daemons
    • Starting the robot manually (for advanced users only)
      • Stopping the service
      • Starting the robot
      • Changing the log level
  • Use Niryo robot via simulation
    • Simulation environment installation
    • Simulation usage
      • Without physics - No visualization
        • Options
      • Without physics - RViz Visualization
        • Control with trackbar
        • Control with ROS
        • RViz Visualization options
      • With physics - Gazebo Simulation
        • Launch Gazebo simulation
        • Gazebo Simulation options
  • Quick start
    • Connect to your robot
      • Hotspot
      • Connected mode
      • Direct ethernet
      • Ethernet through network
    • Robot programming
    • Tips
      • Program your first move in 30 seconds
      • Joints & Poses, what’s the difference?
      • Use a tool
      • Standard, linear, waypointed moves, what’s the difference?
      • Start, Pause, Cancel a program execution

Installation

  • Getting Started
  • Ubuntu 20.04 installation
    • Prerequisites
    • Install ROS
    • Set up your workspace
    • Install dependencies
    • Build the packages
  • Deploy with docker

Packages

  • Overview
  • Common interfaces
    • The Niryo robot msgs package
      • ROS messages
      • ROS services
    • The /niryo_robot namespace
      • ROS topics
        • Publishers
        • Subscribers
      • ROS Services
      • ROS Parameters
      • ROS Action
  • High Level Packages
    • Niryo robot bringup
      • On RaspberryPI
        • Ned2
        • Ned3pro
      • On Desktop (Simulation)
        • Gazebo simulation
        • Rviz simulation
      • Notes
    • Niryo robot arm commander
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
        • The ArmMoveCommand message
    • Niryo robot description
    • Niryo robot gazebo
      • Usage
      • Create your own world
    • Niryo robot modbus
    • Niryo robot poses handlers
      • Workspaces
      • Grips
      • The vision pick loop
      • Dynamic frames
      • Poses & trajectories
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot programs manager
      • Programs manager node
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot programs manager v2
      • Autorun program
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
        • The ExecuteProgram action
    • Niryo robot rpi
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot sound
      • Sounds
      • Sound API functions
        • Sound ROS wrapper
        • API list
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot status
      • Robot status
      • Robot status API functions
        • Robot status ROS wrapper
        • API list
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
        • The RobotStatus message
    • Niryo robot tools commander
      • Tool IDs
      • Tools commander API functions
        • Tools commander ROS wrapper
        • API list
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
        • The ToolCommand message
    • Niryo robot user interface
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot vision
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot led ring
      • Robot status mode
      • User mode
      • Led ring API functions
        • Led ring ROS wrapper
        • API list
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Niryo robot database
      • Database API functions
        • Database ROS wrapper
        • API list
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
  • Low Level Packages
    • Niryo Robot Hardware Interface
      • Hardware status
        • Message definition
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Joints Interface
      • Joints interface node
      • Joints motors configuration
        • The stepper motors profiles
        • The dynamixel motors parameters
      • Package Documentation
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Tools Interface
      • Tools interface node (Only for development and debugging)
      • Tools Interface Core
      • Tools motors configuration
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • End Effector Interface
      • End Effector Interface node (Only for development and debugging)
      • End Effector Interface Core
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • Conveyor Interface
      • Conveyor Interface node (Only development and debugging)
      • Conveyor Interface core
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • CPU Interface
      • CPU Interface Node (Only for development and debugging)
      • CPU Interface Core
      • Configuration
      • Package Documentation
        • ROS Parameters
        • ROS Action
    • TTL Driver
      • TTL Driver Node (Only for development and debugging)
      • TTL Interface Core
      • Package Documentation
        • ROS topics
        • ROS Services
        • ROS Parameters
        • ROS Action
    • TTL Debug Tools
      • TTL debug tool binary
        • Parameters - TTL debug tools
      • Scripts
        • Niryo robot - Send DXL custom value
        • Niryo robot - Read DXL custom value
    • Common
      • Model
        • States
        • Enums
        • Commands
      • Util
  • Third Parties
    • Dynamixel SDK package
    • ROS control package
    • MoveIt! package
    • Foxglove bridge package
  • Control with Python ROS Wrapper
    • Python ROS Wrapper API documentation
      • Main class
        • NiryoRosWrapper
        • move_command()
        • AutorunMode
        • ButtonAction
        • CommandEnum
        • ConveyorCan
        • ConveyorDirection
        • ConveyorID
        • ConveyorTTL
        • ObjectColor
        • ObjectShape
        • PinID
        • PinMode
        • PinState
        • ProgramLanguage
        • ShiftPose
        • ToolID
      • Data Classes
        • JointsPosition
        • Pose
      • Tools
        • ToolsRosWrapper
        • ToolID
      • Database
        • DatabaseRosWrapper
        • DatabaseRosWrapperException
      • Sound
        • SoundRosWrapper
        • SoundRosWrapperException
        • check_ned2_version()
      • Led Ring
        • LedRingRosWrapper
        • LedRingRosWrapperException
        • check_ned2_version()
      • Robot Status
        • RobotStatusRosWrapper
        • RobotStatusRosWrapperException
      • Custom Button
        • CustomButtonRosWrapper
        • CustomButtonRosWrapperException
        • check_ned2_version()
    • Before running your programs
      • The variable PYTHONPATH
      • Required piece of code
    • Examples: Basics
      • Your first move joint
        • Code details - First MoveJ
      • Your first pick and place
        • Code details - first pick and place
    • Examples: Motions
      • Joints
      • Poses
    • Examples: Tool action
      • Tool control
        • Setup tool
        • Grasp
        • Release
    • Examples: Conveyor Belt
      • Simple Conveyor Belt control
      • Advanced Conveyor Belt control
    • Examples: Vision
      • Prerequisites
      • Simple Vision pick
    • Examples: Dynamic frames
      • Simple dynamic frame control

To go further...

  • Use Ned robot’s TCP server
    • Connection
    • Communication
    • Packet convention
      • General format
      • Request
        • Format - Request
        • Examples - Request
      • Answer
        • Format - Answer
        • Examples - Answer
    • Commands enum for TCP server
      • CommandEnum
        • CommandEnum.CALIBRATE
        • CommandEnum.SET_LEARNING_MODE
        • CommandEnum.GET_LEARNING_MODE
        • CommandEnum.SET_ARM_MAX_VELOCITY
        • CommandEnum.SET_JOG_CONTROL
        • CommandEnum.GET_COLLISION_DETECTED
        • CommandEnum.CLEAR_COLLISION_DETECTED
        • CommandEnum.HANDSHAKE
        • CommandEnum.GET_JOINTS
        • CommandEnum.GET_POSE
        • CommandEnum.GET_POSE_QUAT
        • CommandEnum.GET_POSE_V2
        • CommandEnum.MOVE_JOINTS
        • CommandEnum.MOVE_POSE
        • CommandEnum.SHIFT_POSE
        • CommandEnum.MOVE_LINEAR_POSE
        • CommandEnum.SHIFT_LINEAR_POSE
        • CommandEnum.JOG_JOINTS
        • CommandEnum.JOG_POSE
        • CommandEnum.FORWARD_KINEMATICS
        • CommandEnum.INVERSE_KINEMATICS
        • CommandEnum.MOVE
        • CommandEnum.JOG
        • CommandEnum.FORWARD_KINEMATICS_V2
        • CommandEnum.INVERSE_KINEMATICS_V2
        • CommandEnum.GET_POSE_SAVED
        • CommandEnum.SAVE_POSE
        • CommandEnum.DELETE_POSE
        • CommandEnum.GET_SAVED_POSE_LIST
        • CommandEnum.PICK_FROM_POSE
        • CommandEnum.PLACE_FROM_POSE
        • CommandEnum.PICK_AND_PLACE
        • CommandEnum.PICK
        • CommandEnum.PLACE
        • CommandEnum.GET_TRAJECTORY_SAVED
        • CommandEnum.GET_SAVED_TRAJECTORY_LIST
        • CommandEnum.EXECUTE_REGISTERED_TRAJECTORY
        • CommandEnum.EXECUTE_TRAJECTORY_FROM_POSES
        • CommandEnum.EXECUTE_TRAJECTORY_FROM_POSES_AND_JOINTS
        • CommandEnum.SAVE_TRAJECTORY
        • CommandEnum.SAVE_LAST_LEARNED_TRAJECTORY
        • CommandEnum.UPDATE_TRAJECTORY_INFOS
        • CommandEnum.DELETE_TRAJECTORY
        • CommandEnum.CLEAN_TRAJECTORY_MEMORY
        • CommandEnum.EXECUTE_TRAJECTORY
        • CommandEnum.GET_SAVED_DYNAMIC_FRAME_LIST
        • CommandEnum.GET_SAVED_DYNAMIC_FRAME
        • CommandEnum.SAVE_DYNAMIC_FRAME_FROM_POSES
        • CommandEnum.SAVE_DYNAMIC_FRAME_FROM_POINTS
        • CommandEnum.EDIT_DYNAMIC_FRAME
        • CommandEnum.DELETE_DYNAMIC_FRAME
        • CommandEnum.MOVE_RELATIVE
        • CommandEnum.MOVE_LINEAR_RELATIVE
        • CommandEnum.UPDATE_TOOL
        • CommandEnum.OPEN_GRIPPER
        • CommandEnum.CLOSE_GRIPPER
        • CommandEnum.PULL_AIR_VACUUM_PUMP
        • CommandEnum.PUSH_AIR_VACUUM_PUMP
        • CommandEnum.SETUP_ELECTROMAGNET
        • CommandEnum.ACTIVATE_ELECTROMAGNET
        • CommandEnum.DEACTIVATE_ELECTROMAGNET
        • CommandEnum.GET_CURRENT_TOOL_ID
        • CommandEnum.GRASP_WITH_TOOL
        • CommandEnum.RELEASE_WITH_TOOL
        • CommandEnum.ENABLE_TCP
        • CommandEnum.SET_TCP
        • CommandEnum.RESET_TCP
        • CommandEnum.TOOL_REBOOT
        • CommandEnum.GET_TCP
        • CommandEnum.SET_PIN_MODE
        • CommandEnum.DIGITAL_WRITE
        • CommandEnum.DIGITAL_READ
        • CommandEnum.GET_DIGITAL_IO_STATE
        • CommandEnum.GET_HARDWARE_STATUS
        • CommandEnum.ANALOG_WRITE
        • CommandEnum.ANALOG_READ
        • CommandEnum.GET_ANALOG_IO_STATE
        • CommandEnum.CUSTOM_BUTTON_STATE
        • CommandEnum.SET_CONVEYOR
        • CommandEnum.UNSET_CONVEYOR
        • CommandEnum.CONTROL_CONVEYOR
        • CommandEnum.GET_CONNECTED_CONVEYORS_ID
        • CommandEnum.GET_CONVEYORS_FEEDBACK
        • CommandEnum.GET_IMAGE_COMPRESSED
        • CommandEnum.GET_TARGET_POSE_FROM_REL
        • CommandEnum.GET_TARGET_POSE_FROM_CAM
        • CommandEnum.VISION_PICK
        • CommandEnum.MOVE_TO_OBJECT
        • CommandEnum.DETECT_OBJECT
        • CommandEnum.GET_CAMERA_INTRINSICS
        • CommandEnum.SAVE_WORKSPACE_FROM_POSES
        • CommandEnum.SAVE_WORKSPACE_FROM_POINTS
        • CommandEnum.DELETE_WORKSPACE
        • CommandEnum.GET_WORKSPACE_RATIO
        • CommandEnum.GET_WORKSPACE_LIST
        • CommandEnum.SET_IMAGE_BRIGHTNESS
        • CommandEnum.SET_IMAGE_CONTRAST
        • CommandEnum.SET_IMAGE_SATURATION
        • CommandEnum.GET_IMAGE_PARAMETERS
        • CommandEnum.PLAY_SOUND
        • CommandEnum.SET_VOLUME
        • CommandEnum.STOP_SOUND
        • CommandEnum.DELETE_SOUND
        • CommandEnum.IMPORT_SOUND
        • CommandEnum.GET_SOUNDS
        • CommandEnum.GET_SOUND_DURATION
        • CommandEnum.SAY
        • CommandEnum.LED_RING_SOLID
        • CommandEnum.LED_RING_TURN_OFF
        • CommandEnum.LED_RING_FLASH
        • CommandEnum.LED_RING_ALTERNATE
        • CommandEnum.LED_RING_CHASE
        • CommandEnum.LED_RING_WIPE
        • CommandEnum.LED_RING_RAINBOW
        • CommandEnum.LED_RING_RAINBOW_CYCLE
        • CommandEnum.LED_RING_RAINBOW_CHASE
        • CommandEnum.LED_RING_GO_UP
        • CommandEnum.LED_RING_GO_UP_DOWN
        • CommandEnum.LED_RING_BREATH
        • CommandEnum.LED_RING_SNAKE
        • CommandEnum.LED_RING_CUSTOM
        • CommandEnum.LED_RING_SET_LED
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Changelog

  • Ned ROS stack Changelog
    • v5.5.4
    • v5.5.3
    • v5.5.2
    • v5.5.1
    • v5.5.0
    • v5.4.0
    • v5.3.3
    • v5.3.2
    • v5.3.1
    • v5.3.0
    • v5.2.2
    • v5.2.1
    • v5.2.0
    • v5.1.3
    • v5.1.2
    • v5.1.1
    • v5.1.0
    • v5.0.1
    • v4.0.0 (2021-12-16)
    • ned2_v0.6 (2021-12-02)
    • ned2_v0.5 (2021-11-25)
    • ned2_v0.4 (2021-11-17)
    • ned2_v0.3 (2021-11-08)
    • ned2_v0.2 (2021-11-04)
    • 3.2.0 (2021-09-23)
    • ned2_v0.1 (2021-09-21)
    • 3.1.2 (2021-08-13)
    • 3.1.1 (2021-06-21)
    • 3.1.0 (2021-05-06)
    • 3.0.0 (2021-01-25)
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