End Effector Interface¶
This package handles the End Effector Panel of a robot, it is supported from Ned 2.
It provides services and topics specific to the End Effector Panel in order to be used by a final user.
However, it does not deal with the low level bus communication with the components: this is done in the TTL Driver package.
End Effector Interface node (For development and debug)¶
- The ROS Node in End Effector Interface Package is used to:
- Instantiate a TTL Driver manager to communicate with hardware.
- Initialize End Effector Interface.
End Effector Interface Core¶
It is instantiated in Niryo Robot Hardware Interface package.
- It has been conceived to:
- Interface with TTL Driver.
- Initialize End Effector parameters.
- Retrieve End Effector data from TTL driver.
- Publish the status of buttons.
- Publish the collision detection status.
- Start service on IO State.
It belongs to the ROS namespace: /end_effector_interface/
.
Parameters - End Effector Interface¶
Name | Description |
---|---|
end_effector_id |
Id of the End Effector in TTL bus
Default: 0
|
check_end_effector_status_frequency |
Frequency to get the End Effector from driver
Default: 40.0
|
button_2__type |
Button used to activate the FreeMotion mode
Default: free_drive
|
button_1__type |
Button used to save the actual position of the robot
Default: save_position
|
button_0__type |
Custom Button used by users to do something
Default: custom
|
hardware_type |
Type of the End Effector. It can be end_effector or fake_end_effector
Default: end_effector
|
Published topics - End Effector Interface¶
Name | Message Type | Description |
---|---|---|
/niryo_robot_hardware_interface/end_effector_interface/_free_drive_button_state_publisher | EEButtonStatus | Publishes state of Free Motion Button |
/niryo_robot_hardware_interface/end_effector_interface/_save_button_state_publisher | EEButtonStatus | Publishes state of Save Position Button |
/niryo_robot_hardware_interface/end_effector_interface/_custom_button_state_publisher | EEButtonStatus | Publishes state of Custom Button |
/niryo_robot_hardware_interface/end_effector_interface/_digital_out_publisher | EEIOState | Publishes state of IO Digital |
Services - End Effector Interface¶
Name | Service Type | Description |
---|---|---|
set_ee_io_state | SetEEDigitalOut | Set up digital output on End Effector |
Dependencies - End Effector Interface¶
Services & Messages files - End Effector Interface¶
SetEEDigitalOut (Service)¶
bool data
---
bool state
EEButtonStatus (Message)¶
uint8 HANDLE_HELD_ACTION=0
uint8 LONG_PUSH_ACTION=1
uint8 SINGLE_PUSH_ACTION=2
uint8 DOUBLE_PUSH_ACTION=3
uint8 NO_ACTION=100
uint8 action
EEIOState (Message)¶
bool digital_input
bool digital_output