File: niryo_robot_tools_commander/ToolCommand.msg
Raw Message Definition
# 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
Compact Message Definition
int8 OPEN_GRIPPER=1
int8 CLOSE_GRIPPER=2
int8 PULL_AIR_VACUUM_PUMP=10
int8 PUSH_AIR_VACUUM_PUMP=11
int8 SETUP_DIGITAL_IO=20
int8 ACTIVATE_DIGITAL_IO=21
int8 DEACTIVATE_DIGITAL_IO=22
uint8 cmd_type
int8 tool_id
uint16 speed
uint8 max_torque_percentage
uint8 hold_torque_percentage
bool activate
string gpio