ROS2与OpenManipulator机械臂入门教程-Message List

ROS2与OpenManipulator机械臂入门教程-Message List

说明：

• 介绍OpenManipulator发布的topic、订阅的topic和service等

Topic

Topic Monitor

• 通过ROS中的rqt来查看topic list中的topic状态
• 运行rpt

$ rqt

• 最大化rqt窗口，在左上角的选项中选择plugin- > Topics- > Topic Monitor

• 点击topic左边的复选框选择需要监听的topic

• 如果您想查看有关特定topic的更多详细信息，请单击复选框旁边的 ▶ 图标以展开

Published Topic List

• A list of topics that the open_manipulator_controller publishes.

/states

• open_manipulator_msgs/msg/OpenManipulatorState
• The message indicating the status of OpenMANIPULATOR.
• “open_manipulator_actuator_state” indicates whether actuators are enabled ACTUATOR_ENABLE or disabled ACTUATOR_DISABLE.
• “open_manipulator_moving_state” indicates whether OpenMANIPULATOR-X is moving along the trajectory IS_MOVING or stopped STOPPED.

/joint_states

• sensor_msgs/msg/JointState
• The message indicating the states of joints of OpenMANIPULATOR-X.
• “name” indicates joint component names.
• “effort” shows current consumption of each DYNAMIXEL.
• “position” and “velocity” indicates angles and angular velocities of joints.

/kinematics_pose

• open_manipulator_msgs/msg/KinematicsPose
• The message that indicates a pose (position and orientation) in task space.
• “Position” indicates the x, y and z values of the center of the end-effector (tool).
• “Orientation” indicates the rotation of the end-effector (tool) in quaternion.

Subscribed Topic List

• A list of topics that the open_manipulator_controller subscribes.

/option

• std_msgs/msg/String
• This topic is used when setting the OpenMANIPULATOR-X options.
• “print_open_manipulator_setting” requests the open_manipulator_controller to display “Manipulator Description”.

Service

Service Server List

NOTE: These services are messages to operate OpenMANIPULATOR-X or to change the status of DYNAMIXEL of OpenMANIPULATOR.

• A list of service servers that open_manipulator_controller has.

/goal_joint_space_path

• open_manipulator_msgs/srv/SetJointPosition
• The user can use this service to create a trajectory in the joint space.
• The user inputs the angle of the target joint and the total time of the trajectory.

/goal_joint_space_path_to_kinematics_pose

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the joint space.
• The user inputs the kinematics pose of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_joint_space_path_to_kinematics_position

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the joint space.
• The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_joint_space_path_to_kinematics_orientation

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the joint space.
• The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_task_space_path

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the task space.
• The user inputs the kinematics pose of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_task_space_path_position_only

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the task space.
• The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_task_space_path_orientation_only

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory in the task space.
• The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_joint_space_path_from_present

• open_manipulator_msgs/srv/SetJointPosition
• The user can use this service to create a trajectory from present joint angle in the joint space.
• The user inputs the angle of the target joint to be changed and the total time of the trajectory.

/goal_task_space_path_from_present

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory from present kinematics pose in the task space.
• The user inputs the kinematics pose to be changed of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_task_space_path_from_present_position_only

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory from present kinematics pose in the task space.
• The user inputs the kinematics pose(position only) of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time of the trajectory.

/goal_task_space_path_from_present_orientation_only

• open_manipulator_msgs/srv/SetKinematicsPose
• The user can use this service to create a trajectory from present kinematics pose in the task space.
• The user inputs the kinematics pose(orientation only) of the OpenMANIPULATOR-X end-effector(tool) in - the task space and the total time of the trajectory.

/goal_tool_control

• open_manipulator_msgs/srv/SetJointPosition
• The user can use this service to move the tool of OpenMANIPULATOR.

/set_actuator_state

• open_manipulator_msgs/srv/SetActuatorState
• The user can use this service to control the state of actucators.
• If the user set true at set_actuator_state valuable, the actuator will be enabled.
• If the user set false at set_actuator_state valuable, the actuator will be disabled.

/goal_drawing_trajectory

• open_manipulator_msgs/srv/SetDrawingTrajectory
• The user can use this service to create a drawing trajectory.
• The user can create the circle, the rhombus, the heart, and the straight line trajectory.