Skip to content

Commit 6f50062

Browse files
macmacalmacmacal
committed
updated readme
1 parent d660963 commit 6f50062

File tree

1 file changed

+5
-4
lines changed

1 file changed

+5
-4
lines changed

‎aegis_grpc/README.md‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,6 @@ The "ROS-getters" are implemented in the [`RobotReadServiceImpl`](./include/aegi
105105
| `proto_aegis_grpc.v1.RobotReadService.GetCameraRightImage` | Get right tool camera image. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.sensor_msgs.Image`](./proto_aegis_grpc/v1/sensor_msgs.proto) |
106106
| `proto_aegis_grpc.v1.RobotReadService.GetCameraLeftImage` | Get left tool camera image. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.sensor_msgs.Image`](./proto_aegis_grpc/v1/sensor_msgs.proto) |
107107

108-
109108
You can always list the methods with the `grpcurl` command:
110109
```bash
111110
grpcurl -plaintext 127.0.0.1:50051 list proto_aegis_grpc.v1.RobotReadService
@@ -117,10 +116,12 @@ The control bridge for MoveIt2 servo and planners are implemented in the [`Robot
117116

118117
| Method name | Desc. | Impl. | gRPC Request | gRPC Response |
119118
| ------------------------------------------------------------ | --------------------------------------------------------------- | ----- | ---------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
120-
| `proto_aegis_grpc.v1.RobotControlService.GotoJoints` | Plan & execute the MoveIt2 trajectory to a given joints target. | ❌ | [`proto_aegis_grpc.v1.sensor_msgs.JointState`](./proto_aegis_grpc/v1/sensor_msgs.proto) | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
121-
| `proto_aegis_grpc.v1.RobotControlService.GotoPose` | Plan & execute the MoveIt2 trajectory to a given pose target. | ❌ | [`proto_aegis_grpc.v1.geometry_msgs.Pose`](./proto_aegis_grpc/v1/geometry_msgs.proto) | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
119+
| `proto_aegis_grpc.v1.RobotControlService.GotoJoints` | Plan & execute the MoveIt2 trajectory to a given joints target. | ✅ | [`proto_aegis_grpc.v1.sensor_msgs.JointState`](./proto_aegis_grpc/v1/sensor_msgs.proto) | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
120+
| `proto_aegis_grpc.v1.RobotControlService.GotoPose` | Plan & execute the MoveIt2 trajectory to a given pose target. | ✅ | [`proto_aegis_grpc.v1.geometry_msgs.Pose`](./proto_aegis_grpc/v1/geometry_msgs.proto) | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
122121
| `proto_aegis_grpc.v1.RobotControlService.GripperClose` | Closes the gripper. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
123122
| `proto_aegis_grpc.v1.RobotControlService.GripperOpen` | Opens the gripper. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
123+
| `proto_aegis_grpc.v1.RobotControlService.ServoEnable` | Enable servo control. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
124+
| `proto_aegis_grpc.v1.RobotControlService.ServoDisable` | Disable servo control. | ✅ | `google.protobuf.Empty` | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
124125
| `proto_aegis_grpc.v1.RobotControlService.GripperSetPosition` | Set the gripper width. | ✅ | [`proto_aegis_grpc.v1.robot_srvs.GripperSetPositionRequest`](./proto_aegis_grpc/v1/robot_srvs.proto) | [`proto_aegis_grpc.v1.robot_srvs.TriggerResponse`](./proto_aegis_grpc/v1/robot_srvs.proto) |
125126
| `proto_aegis_grpc.v1.RobotControlService.ServoJoint` | Servoing (w.r.t. joints). | ✅ | [`proto_aegis_grpc.v1.control_msgs.JointJog`](./proto_aegis_grpc/v1/control_msgs.proto) | `google.protobuf.Empty` |
126127
| `proto_aegis_grpc.v1.RobotControlService.ServoTCP` | Servoing (w.r.t. TCP). | ✅ | [`proto_aegis_grpc.v1.geometry_msgs.Twist`](./proto_aegis_grpc/v1/geometry_msgs.proto) | `google.protobuf.Empty` |
@@ -176,7 +177,7 @@ There is no hardcoded parameters, everything can be modified via ROS:
176177

177178
| Parameter | Type | Default | Units | Description |
178179
| --------------------- | -------- | ------------------------------- | ----- | ------------------------------------------------ |
179-
| `tcp_frame` | `string` | `"robotiq_hande_end"` | - | TF2 frame ID of the end-effector. |
180+
| `tcp_frame` | `string` | `"robotiq_hande_end"` | - | TF2 frame ID of the end-effector. |
180181
| `base_frame` | `string` | `"world"` | - | TF2 base frame ID for EE pose lookup. |
181182
| `topic_wrench` | `string` | `"/wrench"` | - | Topic providing force/torque (F/T) data. |
182183
| `topic_joints` | `string` | `"/joint_states"` | - | Topic providing joint state data. |

0 commit comments

Comments
 (0)