目录

• 1rm_ros_interface Package Description
• 2rm_ros_interface Package Use
• 3rm_ros_interface Package Architecture Description
• 3.1Overview of Package Files
• 4rm_ros_interface message description
• 4.1Joint error code-Jointerrorcode_msg
• 4.2Clearing the joint’s error code-Jointerrclear_msg
• 4.3All coordinate system names-Getallframe_msg
• 4.4Joine motion-Movej_msg
• 4.5Linear motion-Movel_msg
• 4.6Circular motion-Movec_msg
• 4.7Joint space planning to target pose-Movejp_msg
• 4.8Joint teaching-Jointteach_msg-Jointteach_msg
• 4.9Position teaching-Posteach_msg
• 4.10Attitude teaching-Ortteach_msg
• 4.11Joint transmission-Jointpos_msg
• 4.12Pose transmission-Cartepos_msg
• 4.13Current robotic arm state Angle and Euler angle-Armoriginalstate_msg
• 4.14Current arm state radians and quaternion-Armstate_msg
• 4.15Getting the software version-Armsoftversion_msg
• 4.16Gripper’s pick-Gripperpick_msg
• 4.17Gripper’s pick gripper’s pick-on-Gripperpick_msg
• 4.18Gripper reaching the given position-Gripperset_msg
• 4.19Force-position mixing control-Setforceposition_msg
• 4.20Six-axis force data-Sixforce_msg
• 4.21Setting the dexterous hand posture-Hand posture_msg
• 4.22Setting the dexterous hand action sequence-Handseq_msg
• 4.23Setting the angles of various degrees of freedom for the dexterous hand-Handangle_msg
• 4.24Setting the dexterous hand action sequence-Handspeed_msg
• 4.25Setting the force threshold for the dexterous hand-Handforce_msg
• 4.26Transmissive force-position mixing control compensation-angle-Forcepositionmovejoint_msg
• 4.27Transmissive force-position mixing control compensation-pose-Forcepositionmovejoint_msg
• 4.28Speed open loop control-lifting mechanism-Liftspeed_msg
• 4.29Position closed-loop control-lifting mechanism-Lift height_msg
• 4.30Getting the state of the lifting mechanism-Liftstate_msg
• 4.31Getting or setting UDP active reporting configuration-Setrealtimepush_msg
• 4.32UDP manipulator status report Armcurrentstatus_msg
• 4.33UDP joint current report Jointcurrent_msg
• 4.34UDP joint enabling status report Jointenflag_msg
• 4.35UDP manipulator Euler’s angular pose is reported to Jointposeeuler_msg
• 4.36UDP joint speed report Jointspeed_msg
• 4.37UDP joint temperature report Jointtemperature_msg
• 4.38UDP joint voltage report Jointvoltage_msg
• 4.39Customize high following mode joint transmission-Jointposcustom_msg
• 4.40Customize high following mode pose transmission-Carteposcustom_msg

rm_ros_interface_Package_Description

The main function of the rm_ros_interface package is to provide necessary message files for the robotic arm to run under the framework of ROS2. In the following text, we will provide a detailed introduction to this package through the following aspects.

• 1.Package use.
• 2.Package architecture description.
• 3.Package topic description.
  Through the introduction of the three parts, it can help you-
• 1.Understand the package use.
• 2.Familiar with the file structure and function of the package.
• 3.Familiar with the topic related to the package for easy development and use.

  rm_ros_interface_Package_Use

  This package does not have any executable commands, but it is used to provide the necessary message files for other packages.

  rm_ros_interface_Package_Architecture_Description

  Overview_of_Package_Files

├── CMakeLists.txt                # compilation rule file
├── include                       # dependency header file folder
│   └── rm_ros_interfaces
├── msg                          # current message file (see below for details)
│   ├── Armcurrentstatus.msg
│   ├── Armoriginalstate.msg
│   ├── Armsoftversion.msg
│   ├── Armstate.msg
│   ├── Cartepos.msg
│   ├── Carteposcustom.msg
│   ├── Forcepositionmovejoint.msg
│   ├── Forcepositionmovepose.msg
│   ├── Force_Position_State.msg
│   ├── Getallframe.msg
│   ├── GetArmState_Command.msg
│   ├── Gripperpick.msg
│   ├── Gripperset.msg
│   ├── Handangle.msg
│   ├── Handforce.msg
│   ├── Handposture.msg
│   ├── Handseq.msg
│   ├── Handspeed.msg
│   ├── Handstatus.msg
│   ├── Jointcurrent.msg
│   ├── Jointenflag.msg
│   ├── Jointerrclear.msg
│   ├── Jointerrorcode.msg
│   ├── Jointposeeuler.msg
│   ├── Jointpos.msg
│   ├── Jointposcustom.msg
│   ├── Jointspeed.msg
│   ├── Jointteach.msg
│   ├── Jointtemperature.msg
│   ├── Jointvoltage.msg
│   ├── Liftheight.msg
│   ├── Liftspeed.msg
│   ├── Liftstate.msg
│   ├── Movec.msg
│   ├── Movej.msg
│   ├── Movejp.msg
│   ├── Movel.msg
│   ├── Ortteach.msg
│   ├── Posteach.msg
│   ├── Setforceposition.msg
│   ├── Setrealtimepush.msg
│   ├── Sixforce.msg
│   └── Stop.msg
├── package.xml                                      # dependency declaration file
└── src

rm_ros_interface_message_description

Joint_error_code-Jointerrorcode_msg

uint16[] joint_error  
uint8 dof  

msg member
uint16[] joint_error
Error message for each joint.
uint8 dof
Degree of freedom message of the robotic arm.

Clearing_the_joint’s_error_code-Jointerrclear_msg

uint8 joint_num  
bool block  

msg member
joint_num
the corresponding joint number, from the base to the robotic arm gripper, the number is 1-6 or 1-7.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

All_coordinate_system_names-Getallframe_msg

string[10] frame_name  

msg member
frame_name
The array of work coordinate system names returned

Joine_motion-Movej_msg

float32[] joint  
uint8 speed  
bool block  
uint8 trajectory_connect
uint8 dof  

msg member
joint
Joint angle, float type, unit-radians.
speed
Speed percentage ratio coefficient, 0-100.
trajectory_connect Is the trajectory plan now. 1.wait 0.plan now. block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
dof
Degree of freedom message of the robotic arm.

Linear_motion-Movel_msg

geometry_msgs/Pose pose  
uint8 speed  
uint8 trajectory_connect  
bool block  

msg member
pose
Robotic arm pose-geometry_msgs/Pose type, x, y, z coordinates (float type, unit-m) + quaternion (float type).
speed
Speed percentage ratio coefficient, 0-100.
trajectory_connect Is the trajectory plan now. 1.wait 0.plan now. block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Circular_motion-Movec_msg

geometry_msgs/Pose pose_mid  
geometry_msgs/Pose pose_end  
uint8 speed  
uint8 trajectory_connect  
bool block  
uint8 loop

msg member
pose_mid
Middle pose: geometry_msgs/Pose type, x, y, z coordinates (float type, unit: m) + quaternion.
pose_end
Target pose: geometry_msgs/Pose type, x, y, z coordinates (float type, unit: m) + quaternion.
speed
Speed percentage ratio coefficient, 0-100.
trajectory_connect Is the trajectory plan now. 1.wait 0.plan now. block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
loop Number of cycles

Joint_space_planning_to_target_pose-Movejp_msg

geometry_msgs/Pose pose  
uint8 speed  
uint8 trajectory_connect  
bool block 

msg member pose
Target pose: geometry_msgs/Pose type, x, y, z coordinates (float type, unit: m) + quaternion.
speed
Speed percentage ratio coefficient, 0-100.
trajectory_connect Is the trajectory plan now. 1.wait 0.plan now. block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Joint_teaching-Jointteach_msg

uint8 num
uint8 direction
uint8 speed
bool block

msg member
num
joint num，1~7. direction
teach direction，0-negative direction，1-positive direction. speed speed:speed percentage ratio coefficient, 0-100. block
whether it is a blocking mode, bool type, true: blocking, false: non-blocking.

Position_teaching-Posteach_msg

uint8 type
uint8 direction
uint8 speed
bool block

msg member
type
Teaching demonstration type: input0:X-axis direction、1:Y-axis direction、2:Z-axis direction. direction
teach direction，0-negative direction，1-positive direction. speed speed:speed percentage ratio coefficient, 0-100.
block
whether it is a blocking mode, bool type, true: blocking, false: non-blocking.

Attitude_teaching-Ortteach_msg

uint8 type
uint8 direction
uint8 speed
bool block

msg member
type
Teaching demonstration type: input0:RX-axis direction、1:RY-axis direction、2:RZ-axis direction direction
teach direction，0-negative direction，1-positive direction. speed speed:speed percentage ratio coefficient, 0-100.
block
whether it is a blocking mode, bool type, true: blocking, false: non-blocking.

Joint_transmission-Jointpos_msg

float32[] joint  
bool follow  
float32 expand  
uint8 dof

msg member
joint Joint angle, float type, unit: radians.
follow
Follow state, bool type, true: high follow, false: low follow, default high follow if not set.
expand
Expand joint, float type, unit: radians.
dof
Degree of freedom message of the robotic arm.

Pose_transmission-Cartepos_msg

geometry_msgs/Pose pose  
bool follow  

msg member
pose
Robotic arm poses geometry_msgs/Pose type, x, y, z coordinates (float type, unit: m) + quaternion.
follow
Follow state, bool type, true: high follow, false: low follow, default high follow if not set.

Current_robotic_arm_state_Angle_and_Euler_angle-Armoriginalstate_msg

float32[] joint  
float32[6] pose  
uint16 arm_err  
uint16 sys_err  
uint8 dof

msg member
joint
Joint angle, float type, unit: °.
pose
Current pose of the robotic arm, float type, x, y, z coordinates, unit: m, x, y, z Euler angle, unit: degree.
arm_err
Robotic arm running error code, unsigned int type.
arm_err Controller error code, unsigned int type.
dof
Degree of freedom message of the robotic arm.

Current_arm_state_radians_and_quaternion-Armstate_msg

float32[] joint  
geometry_msgs/Pose pose  
uint16 arm_err  
uint16 sys_err  
uint8 dof  

msg member
joint
Joint angle, float type, unit: radians.
pose
Current pose of the robotic arm, float type, x, y, z coordinates, unit: m, x, y, z, w quaternion.
arm_err
Robotic arm running error code, unsigned int type.
arm_err
Controller error code, unsigned int type.
dof
Degree of freedom message of the robotic arm.

Getting_the_software_version-Armsoftversion_msg

string planversion  
string ctrlversion  
string kernal1  
string kernal2  
string productversion  

msg member
planversion
The read user interface kernel version number, string type.
ctrlversion
Real-time kernel version number, string type.
kernal1
The version number of sub-core 1 of the real-time kernel, string type.
kernal2
The version number of sub-core 2 of the real-time kernel, string type.
productversion
Robotic arm model, string type.

Gripper_pick-Gripperpick_msg

uint16 speed  
uint16 force  
bool block 
uint16 timeout 

msg member
speed
Gripper pick speed, unsigned int type, range: 1-1000.
force
Gripper pick torque threshold, unsigned int type, range: 50-1000.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
timeout Set the timeout for the return, and the blocking mode will take effect (in seconds).

Gripper_pick_gripper_pick-on-Gripperpick_msg

uint16 speed  
uint16 force  
bool block  
uint16 timeout 

msg member
speed
Gripper pick speed, unsigned int type, range: 1-1000.
force
Gripper picks torque threshold, unsigned int type, range: 50-1000.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
timeout Set the timeout for the return, and the blocking mode will take effect (in seconds).

Gripper_reaching_the_given_position-Gripperset_msg

uint16 position  
bool block 
uint16 timeout 

msg member
position
Gripper target position, unsigned int type, range: 1-1000, representing the degree of opening of the gripper: 0-70 mm.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
timeout Set the timeout for the return, and the blocking mode will take effect (in seconds).

Force-position_mixing_control-Setforceposition_msg

uint8 sensor  
uint8 mode  
uint8 direction  
int16 n  
bool block

msg member
sensor
Sensor; 0 - One-axis force; 1 - Six-axis force.
mode
Mode: 0 - Base coordinate system force control; 1 - Tool coordinate system force control.
Direction
Force control direction; 0 - Along the X-axis; 1 - Along the Y-axis; 2 - Along the Z-axis; 3 - Along the RX posture direction; 4 - Along the RY posture direction; 5 - Along the RZ posture direction.
n
Force value, unit: 0.1 N.
block
whether it is a blocking mode, true: blocking, false: non-blocking.

Six-axis_force_data-Sixforce_msg

float32 force_fx  
float32 force_fy  
float32 force_fz  
float32 force_mx  
float32 force_my  
float32 force_mz

msg member
force_fx
the force along the x-axis direction.
force_fy
the force along the y-axis direction.
force_fz the force along the z-axis direction.
force_mx
the force when rotating along the x-axis direction.
force_my
the force when rotating along the y-axis direction.
force_mz
the force when rotating along the z-axis direction.

Setting_the_dexterous_hand_posture-Hand_posture_msg

uint16 posture_num  
bool block 

msg member
posture_num
The serial number of the posture pre-saved in the dexterous hand, ranges from 1 to 40.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Setting_the_dexterous_hand_action_sequence-Handseq_msg

uint16 seq_num  
bool block

msg member
seq_num
The serial number of the sequence pre-saved in the dexterous hand, ranging from 1 to 40.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Setting_the_angles_of_various_degrees_of_freedom_for_the_dexterous_hand-Handangle_msg

int16[6] hand_angle   
bool block

msg member
hand_angle
Hand angle array, range: 0-1000. And -1 represents that no operation is performed on this degree of freedom and the current state remains.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Setting_the_dexterous_hand_action_sequence-Handspeed_msg

uint16 hand_speed  
bool block

msg member
hand_speed Hand speed, range: 1-1000.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Setting_the_force_threshold_for_the_dexterous_hand-Handforce_msg

uint16 hand_force  
bool block

msg member
hand_force
Hand force, range: 1-1000.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Transmissive_force-position_mixing_control_compensation-angle-Forcepositionmovejoint_msg

float32[] joint  
uint8 sensor  
uint8 mode  
int16 dir  
float32 force  
bool follow  
uint8 dof

msg member
joint
Angle force-position mixing transmission, unit: radians.
sensor
Type of sensor used, 0 - One-axis force, 1 - Six-axis force.
mode
Mode, 0 - Along the work coordinate system, 1 - Along the tool end coordinate system.
dir
Force control direction, 0 to 5 represent X/Y/Z/Rx/Ry/Rz respectively, and the default direction for one-axis force type is the Z direction.
force
Force value, accuracy: 0.1 N or 0.1 Nm.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.
dof
Degree of freedom message of the robotic arm.

Transmissive_force-position_mixing_control_compensation-pose-Forcepositionmovejoint_msg

geometry_msgs/Pose pose  
uint8 sensor  
uint8 mode  
int16 dir  
float32 force  
bool follow

msg member
pose
Robotic arm pose message, x, y, z position message + quaternion posture message.
sensor
Type of sensor used, 0 - One-axis force, 1 - Six-axis force.
mode
Mode, 0 - Along the work coordinate system, 1 - Along the tool end coordinate system.
dir
Force control direction, 0 to 5 represent X/Y/Z/Rx/Ry/Rz respectively, and the default direction for one-axis force type is the Z direction.
force
Force value, accuracy: 0.1 N or 0.1 Nm.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Speed_open_loop_control-lifting_mechanism-Liftspeed_msg

int16 speed  
bool block

msg member
speed
Speed percentage, -100-100. Speed < 0: the lifting mechanism moves downward; Speed > 0: the lifting mechanism moves upward; Speed = 0: the lifting mechanism stops.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Position_closed-loop_control-lifting_mechanism-Lift_height_msg

uint16 height  
uint16 speed  
bool block

msg member
height
Target height, unit: mm, accuracy: 0-2600.
speed
Speed percentage, 1-100.
block
whether it is a blocking mode, bool type, true-blocking, false-non-blocking.

Getting_the_state_of_the_lifting_mechanism-Liftstate_msg

int16 height   
int16 current  
uint16 err_flag

msg member
height
Current lifting mechanism height, unit: mm, accuracy: 1mm, range: 0-2300.
current
Lifting drive error code, error code type refers to joint error code.

Getting_or_setting_UDP_active_reporting_configuration-Setrealtimepush_msg

uint16 cycle  
uint16 port  
uint16 force_coordinate  
string ip

msg member
cycle
Set the broadcast cycle, which is a multiple of 5ms.
port
Set the port number for broadcasting.
force_coordinate
Coordinate system for external force data of the system, where 0 is the sensor coordinate system, 1 is the current work coordinate system, and 2 is the current tool coordinate system.
ip
Customized reporting target IP address.

UDP_manipulator_status_report-Armcurrentstatus_msg

uint16 arm_current_status

msg member
arm_current_status
Mechanical arm status, 0-RM_IDLE_E // Enabled but idle state 1-RM_MOVE_L_E // move L state in motion 2-RM_MOVE_J_E // move J in motion 3-RM_MOVE_C_E // move C state in motion 4-RM_MOVE_S_E // move S state in motion 5-RM_MOVE_THROUGH_JOINT_E // Angle transparent state 6-RM_MOVE_THROUGH_POSE_E // Pose transparent state 7-RM _ move _ through _ force _ pose _ e//Force control transparent transmission state 8-RM_MOVE_THROUGH_CURRENT_E // Current loop transparent state 9-RM_STOP_E // Emergency stop status 10-RM_SLOW_STOP_E // slow stop status 11-RM_PAUSE_E // Pause status 12-RM_CURRENT_DRAG_E // Current loop drag status 13-RM_SENSOR_DRAG_E // Six-axis force drag state 14-RM_TECH_DEMONSTRATION_E // Teaching Status

UDP_joint_current_report-Jointcurrent_msg

float32[] joint_current

msg member
joint_current
Current joint current with an accuracy of 0.001mA.

UDP_joint_enabling_status_report-Jointenflag_msg

bool[] joint_en_flag

msg member
joint_en_flag
Current joint enabling state, 1 is up enabling and 0 is down enabling.

UDP_manipulator_Euler_angle_posture_report-Jointposeeuler_msg

float32[3] euler
float32[3] position

msg member
euler
Euler angle of current waypoint attitude, with an accuracy of 0.001rad.
position
The current waypoint position has an accuracy of 0.000001M.

UDP joint_speed_report-Jointspeed_msg

float32[] joint_speed

msg member
joint_speed
Current joint speed, accuracy 0.02RPM.

UDP_joint_temperature_report-Jointtemperature_msg

float32[] joint_temperature

msg member
joint_temperature
Current joint temperature, with an accuracy of 0.001℃.

UDP_joint_voltage_report-Jointvoltage_msg

float32[] joint_voltage

msg member
joint_voltage
Current joint voltage, with an accuracy of 0.001V V.

Customize_high_following_mode_joint_transmission-Jointpos_msg

float32[] joint  
bool follow  
float32 expand  
uint8 dof
uint8 trajectory_mode
uint8 radio

msg member
joint
Joint angle, float type, unit: radians.
follow
Follow state, bool type, true: high follow, false: low follow, default high follow if not set.
expand
Expand joint, float type, unit: radians.
dof
Degree of freedom message of the robotic arm.
trajectory_mode
When the high following mode is set, multiple modes are supported, including 0- complete transparent transmission mode, 1- curve fitting mode and 2- filtering mode.
radio
Set the smoothing coefficient in curve fitting mode (range 0-100) or the filter parameter in filtering mode (range 0-1000). The higher the value, the better the smoothing effect.

Customize_high_following_mode_pose_transmission-Cartepos_msg

geometry_msgs/Pose pose  
bool follow  
uint8 trajectory_mode
uint8 radio

msg member
pose
Robotic arm poses geometry_msgs/Pose type, x, y, z coordinates (float type, unit: m) + quaternion.
follow
Follow state, bool type, true: high follow, false: low follow, default high follow if not set. trajectory_mode
When the high following mode is set, multiple modes are supported, including 0- complete transparent transmission mode, 1- curve fitting mode and 2- filtering mode.
radio
Set the smoothing coefficient in curve fitting mode (range 0-100) or the filter parameter in filtering mode (range 0-1000). The higher the value, the better the smoothing effect.

It is mainly for the application of API to achieve some of the robotic arm functions; for a more complete introduction and use, please see the special document “RealMan Robotic Arm ROS2 Topic Detailed Description”.