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API description

Subscribed Topics:

  • /joint_goal (sensor_msgs/msg/JointState) make the robot move to a position in joint space after planning a trajectory.
    example: function_pub_joints() in elfin_basic_api/scripts/test.py

  • /cart_goal (geometry_msgs/msg/PoseStamped)
    make the robot move to a position in cartesian coordination system after planning a trajectory.
    example: function_pub_cart() in elfin_basic_api/scripts/test.py

  • /cart_path_goal (geometry_msgs/msg/PoseArray)
    make the robot move through the assigned positions in cartesian coordination system after planning a trajectory composed of lines.
    example: function_pub_cart_path() in elfin_basic_api/scripts/test.py

  • /elfin_arm_controller/joint_trajectory (trajectory_msgs/msg/JointTrajectory)
    This topic contain a trajectory. When you publish this topic, the robot will move along the trajectory. example: function_pub_trajectory() in elfin_basic_api/scripts/test.py

  • /elfin_teleop_joint_cmd_no_limit (std_msgs/msg/Int64)
    This is a topic for developer, customers are not supposed to use it. A particular joint will move a little distance after subscribing this topic for once.

    Meaning of the data in the topic:

    data joint direction
    1 elfin_joint1 ccw
    -1 elfin_joint1 cw
    2 elfin_joint2 ccw
    -2 elfin_joint2 cw
    3 elfin_joint3 ccw
    -3 elfin_joint3 cw
    4 elfin_joint4 ccw
    -4 elfin_joint4 cw
    5 elfin_joint5 ccw
    -5 elfin_joint5 cw
    6 elfin_joint6 ccw
    -6 elfin_joint6 cw

Published Topics:

  • /elfin_arm_controller/state (control_msgs/msg/JointTrajectoryControllerState)
    The current status of the joints.

  • /enable_state (std_msgs/msg/Bool)
    The servo status of the robot.
    true: enabled / false: disabled

  • /fault_state (std_msgs/msg/Bool)
    The fault status of the robot.
    true: warning / false: no fault

  • elfin_basic_api/parameter_updates (dynamic_reconfigure/Config)
    The value of the dynamic parameters of elfin_basic_api, e.g. velocity scaling.

  • /reference_link_name (std_msgs/msg/String)
    The reference link in the calculations of the elfin_basic_api node

  • /end_link_name (std_msgs/msg/String)
    The end link in the calculations of the elfin_basic_api node

Services:

  • /get_reference_link (std_srvs/srv/SetBool)
    You can get the reference link name of elfin_basic_api from the response of this service.

  • /get_end_link (std_srvs/srv/SetBool) You can get the end link name of elfin_basic_api from the response of this service.

  • /stop_teleop (std_srvs/srv/SetBool)
    Make the robot stop moving.

  • /get_txpdo (std_srvs/srv/SetBool)
    You can get the content of TxPDOs from the response of this service.

  • /get_rxpdo (std_srvs/srv/SetBool)
    You can get the content of RxPDOs from the response of this service.

  • /get_current_position (std_srvs/srv/SetBool) You can get the count values of the current joint positions from the response of this service.

  • elfin_basic_api/set_parameters (dynamic_reconfigure/Reconfigure)
    Set the dynamic parameters of elfin_basic_api, e.g. velocity scaling
    example: set_parameters() in elfin_robot_bringup/script/set_velocity_scaling.py

  • /recognize_position (std_srvs/SetBool)
    Recognize the position of joints.

  • /write_do (elfin_robot_msgs/srv/ElfinIODWrite) Write a value into DO

  • /read_di (elfin_robot_msgs/srv/ElfinIODRead)
    Read the value from DI

  • /get_io_txpdo (std_srvs/srv/SetBool)
    You can get the content of TxPDOs from the response of this service.

  • /get_io_rxpdo (std_srvs/srv/SetBool)
    You can get the content of RxPDOs from the response of this service.

  • elfin_module_open_brake_slaveX(std_srvs/srv/SetBool)
    When the module is not enabled, you can open the brake of the corresponding module using this service.

  • elfin_module_close_brake_slaveX(std_srvs/srv/SetBool)
    When the module is not enabled, you can close the brake of the corresponding module using this service.