Niryo_robot_status

Robot status Node

The ROS Node is listening to the topics of the robot to deduce the current state of the robot. It manages the status of the robot, the status of the logs and informs about the overheating of the Raspberry PI and the out of limit joints.

It belongs to the ROS namespace: /niryo_robot_status/.

Niryo Robot Status Table
Name Description Troubleshoot
SHUTDOWN The robot is being shut down  
FATAL_ERROR ROS crash Please restart the robot
MOTOR_ERROR Motor voltage error, overheating, overload
Check the error code on Niryo Studio.
Restart the robot and check the wiring.
If the problem persists, contact customer service
COLLISION Arm collision detected Restart your movement or switch to learning mode to remove this error.
USER_PROGRAM_ERROR User program error Launch a movement or switch to learning mode to remove this error.
UNKNOWN Node not initialized  
BOOTING ROS a and the Raspberry are booting up
If the startup seems to timeout, restart the robot electrically.
If the problem persists, update the robot with ssh,
change the SD card or contact customer service.
UPDATE Robot update in progress Just wait and be patient :)
CALIBRATION_NEEDED New calibration requested Run a new calibration before processing any movement.
CALIBRATION_IN_PROGRESS Calibration in progress
If the calibration fails or takes longer than 30 seconds.
The status will return to CALIBRATION_NEED.
LEARNING_MODE Free motion enabled, the torques are disabled  
STANDBY
Free motion disabled, the torques are enabled
and no user program is running
  
MOVING
A single motion or jog is being processed
and no user program is running
  
RUNNING_AUTONOMOUS A user program is running and the torques are enabled  
RUNNING_DEBUG A debug procedure is running A short press on the top button cancels it.
PAUSE User program error
A short press on the top button resumes the program,
a long press (on Ned2) or a double press (on Ned and One)
cancels the program execution.
After 30 seconds, the program stops automatically.
LEARNING_MODE_AUTONOMOUS A user program is running and the torques are disabled  
Niryo Robot Status Diagram

Niryo Robot Status Diagram

Publisher - Robot Status

Robot Status Package’s Publishers
Name Message Type Latch Mode Description
/niryo_robot_status/robot_status RobotStatus True Publish the robot, log, overheating and out of bounds status.

Services - Robot Status

Robot Status Services
Name Message Type Description
/niryo_robot_status/advertise_shutdown Trigger Notify of a shutdown request

Subscribers - Robot Status

Robot Status Package subscribers
Topic name Message type Description
/niryo_robot_hardware_interface/hardware_status HardwareStatus Detection of a motor or end effector panel error, raspberry overheating
niryo_robot_rpi/pause_state PausePlanExecution Detection of the pause state
/niryo_robot_arm_commander/is_active std_msgs/Bool Detection of a motion
/niryo_robot_arm_commander/is_debug_motor_active std_msgs/Bool Detection of a debug procedure
/niryo_robot/jog_interface/is_enabled std_msgs/Bool Detection of a jog motion
/niryo_robot_programs_manager/program_is_running ProgramIsRunning Detection of a user program
/niryo_robot_user_interface/is_client_connected std_msgs/Bool Detection of a pyniryo user
/niryo_robot/learning_mode/state std_msgs/Bool Detection of the free motion mode
/niryo_robot_arm_commander/collision_detected std_msgs/Bool Detection of collision
/joint_states sensor_msgs/JointState Get the joint state in order to detect an out of bounds
/ping_pyniryo std_msgs/Bool Detection of a pyniryo2 user

Messages files - Robot Status

RobotStatus

int8 UPDATE=-7
int8 REBOOT=-6
int8 SHUTDOWN=-5
int8 FATAL_ERROR=-4     # Node crash
int8 MOTOR_ERROR=-3     # Electrical/overload or disconnected motor error
int8 COLLISION=-2
int8 USER_PROGRAM_ERROR=-1
int8 UNKNOWN=0
int8 BOOTING=1          # Robot is booting
int8 REBOOT_MOTOR=2
int8 CALIBRATION_NEEDED=3
int8 CALIBRATION_IN_PROGRESS=4
int8 LEARNING_MODE=5
int8 STANDBY=6          # Torque ON
int8 MOVING=7           # Moving with NiryoStudio interface or ros topics without user program
int8 RUNNING_AUTONOMOUS=8   # User program is running
int8 RUNNING_DEBUG=9    # Debug program is running
int8 PAUSE=10           # User program paused
int8 LEARNING_MODE_AUTONOMOUS=11    # User program is running + Learning mode activated
int8 LEARNING_TRAJECTORY = 12
int8 REBOOT_MOTOR=13

int8 robot_status
string robot_status_str
string robot_message

int8 FATAL=-3
int8 ERROR=-2
int8 WARN=-1
int8 NONE=0

int8 logs_status
string logs_status_str
string logs_message

bool out_of_bounds
bool rpi_overheating