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xarm_msgs package from xarm_ros2 repo

mbot_demo realsense_gazebo_plugin uf_ros_lib xarm_api xarm_controller xarm_description xarm_gazebo xarm_moveit_config xarm_moveit_servo xarm_msgs xarm_planner xarm_sdk

API Docs
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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2 developer packages for robotic products from UFACTORY
Checkout URI https://github.com/xarm-developer/xarm_ros2.git
VCS Type git
VCS Version humble
Last Updated 2025-04-10
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robotics gazebo ros2
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The xarm_msgs package

Additional Links

No additional links.

Maintainers

  • Vinman

Authors

No additional authors.
xarm_msgs/ReadMe.md

Description of the data structure used by xarm_ros2

msg

srv

  • xarm_msgs::srv::Call
    • xarm_api->service: clean_error
    • xarm_api->service: clean_warn
    • xarm_api->service: clean_conf
    • xarm_api->service: save_conf
    • xarm_api->service: reload_dynamics
    • xarm_api->service: set_counter_reset
    • xarm_api->service: set_counter_increase
    • xarm_api->service: clean_gripper_error
    • xarm_api->service: clean_bio_gripper_error
    • xarm_api->service: start_record_trajectory
    • xarm_api->service: stop_record_trajectory
    • xarm_api->service: ft_sensor_set_zero
    • xarm_api->service: set_linear_track_stop
    • xarm_api->service: clean_linear_track_error
    • xarm_api->service: open_lite6_gripper
    • xarm_api->service: close_lite6_gripper
    • xarm_api->service: stop_lite6_gripper
  • xarm_msgs::srv::GetInt16
    • xarm_api->service: get_state
    • xarm_api->service: get_cmdnum
    • xarm_api->service: get_vacuum_gripper
    • xarm_api->service: get_gripper_err_code
    • xarm_api->service: get_bio_gripper_status
    • xarm_api->service: get_bio_gripper_error
    • xarm_api->service: get_reduced_mode
    • xarm_api->service: get_report_tau_or_i
    • xarm_api->service: ft_sensor_app_get
    • xarm_api->service: get_ft_sensor_error
    • xarm_api->service: get_trajectory_rw_status
    • xarm_api->service: get_linear_track_pos
    • xarm_api->service: get_linear_track_status
    • xarm_api->service: get_linear_track_error
    • xarm_api->service: get_linear_track_is_enabled
    • xarm_api->service: get_linear_track_on_zero
    • xarm_api->service: get_linear_track_sci
  • xarm_msgs::srv::GetInt16List
    • xarm_api->service: get_err_warn_code
    • xarm_api->service: get_linear_track_sco
  • xarm_msgs::srv::SetInt16
    • xarm_api->service: set_mode
    • xarm_api->service: set_state
    • xarm_api->service: set_collision_sensitivity
    • xarm_api->service: set_teach_sensitivity
    • xarm_api->service: set_gripper_mode
    • xarm_api->service: set_gripper_enable
    • xarm_api->service: set_bio_gripper_speed
    • xarm_api->service: set_fence_mode
    • xarm_api->service: set_reduced_mode
    • xarm_api->service: set_self_collision_detection
    • xarm_api->service: set_simulation_robot
    • xarm_api->service: set_baud_checkset_enable
    • xarm_api->service: set_report_tau_or_i
    • xarm_api->service: ft_sensor_enable
    • xarm_api->service: ft_sensor_app_set
    • xarm_api->service: set_linear_track_enable
    • xarm_api->service: set_linear_track_speed
    • xarm_api->service: set_cartesian_velo_continuous
    • xarm_api->service: set_allow_approx_motion
    • xarm_api->service: set_only_check_type
    • xarm_api->service: config_tgpio_reset_when_stop
    • xarm_api->service: config_cgpio_reset_when_stop
  • xarm_msgs::srv::SetInt16ById
    • xarm_api->service: motion_enable
    • xarm_api->service: set_servo_attach
    • xarm_api->service: set_servo_detach
  • xarm_msgs::srv::SetInt16List
    • xarm_api->service: set_reduced_tcp_boundary
  • xarm_msgs::srv::GetInt32
    • xarm_api->service: get_tgpio_modbus_baudrate
  • xarm_msgs::srv::SetInt32
    • xarm_api->service: set_tgpio_modbus_baudrate
  • xarm_msgs::srv::GetFloat32
    • xarm_api->service: get_gripper_position
  • xarm_msgs::srv::GetFloat32List
    • xarm_api->service: get_position
    • xarm_api->service: get_servo_angle
    • xarm_api->service: get_position_aa
    • xarm_api->service: get_ft_sensor_data
  • xarm_msgs::srv::SetFloat32
    • xarm_api->service: set_pause_time
    • xarm_api->service: set_tcp_jerk
    • xarm_api->service: set_tcp_maxacc
    • xarm_api->service: set_joint_jerk
    • xarm_api->service: set_joint_maxacc
    • xarm_api->service: set_gripper_speed
    • xarm_api->service: set_reduced_max_tcp_speed
    • xarm_api->service: set_reduced_max_joint_speed
  • xarm_msgs::srv::SetFloat32List
    • xarm_api->service: set_gravity_direction
    • xarm_api->service: set_tcp_offset
    • xarm_api->service: set_world_offset
    • xarm_api->service: set_reduced_joint_range
  • xarm_msgs::srv::SetTcpLoad
    • xarm_api->service: set_tcp_load
  • xarm_msgs::srv::MoveCartesian
    • xarm_api->service: set_position
    • xarm_api->service: set_tool_position
    • xarm_api->service: set_position_aa
    • xarm_api->service: set_servo_cartesian
    • xarm_api->service: set_servo_cartesian_aa
  • xarm_msgs::srv::MoveJoint
    • xarm_api->service: set_servo_angle
    • xarm_api->service: set_servo_angle_j
  • xarm_msgs::srv::MoveCircle
    • xarm_api->service: move_circle
  • xarm_msgs::srv::MoveHome
    • xarm_api->service: move_gohome
  • xarm_msgs::srv::MoveVelocity
    • xarm_api->service: vc_set_joint_velocity
    • xarm_api->service: vc_set_cartesian_velocity
  • xarm_msgs::srv::GetDigitalIO
    • xarm_api->service: get_tgpio_digital
    • xarm_api->service: get_cgpio_digital
  • xarm_msgs::srv::GetAnalogIO
    • xarm_api->service: get_tgpio_analog
    • xarm_api->service: get_cgpio_analog
  • xarm_msgs::srv::SetDigitalIO
    • xarm_api->service: set_tgpio_digital
    • xarm_api->service: set_cgpio_digital
    • xarm_api->service: set_tgpio_digital_with_xyz
    • xarm_api->service: set_cgpio_digital_with_xyz
  • xarm_msgs::srv::SetAnalogIO
    • xarm_api->service: set_cgpio_analog
    • xarm_api->service: set_cgpio_analog_with_xyz
  • xarm_msgs::srv::VacuumGripperCtrl
    • xarm_api->service: set_vacuum_gripper
  • xarm_msgs::srv::GripperMove
    • xarm_api->service: set_gripper_position
  • xarm_msgs::srv::BioGripperEnable
    • xarm_api->service: set_bio_gripper_enable
  • xarm_msgs::srv::BioGripperCtrl
    • xarm_api->service: open_bio_gripper
    • xarm_api->service: close_bio_gripper
  • xarm_msgs::srv::RobotiqReset
    • xarm_api->service: robotiq_reset
  • xarm_msgs::srv::RobotiqActivate
    • xarm_api->service: robotiq_set_activate
  • xarm_msgs::srv::RobotiqMove
    • xarm_api->service: robotiq_set_position
    • xarm_api->service: robotiq_open
    • xarm_api->service: robotiq_close
  • xarm_msgs::srv::RobotiqGetStatus
    • xarm_api->service: robotiq_get_status
  • xarm_msgs::srv::SetModbusTimeout
    • xarm_api->service: set_tgpio_modbus_timeout
  • xarm_msgs::srv::GetSetModbusData
    • xarm_api->service: getset_tgpio_modbus_data
  • xarm_msgs::srv::TrajCtrl
    • xarm_api->service: save_record_trajectory
    • xarm_api->service: load_trajectory
  • xarm_msgs::srv::TrajPlay
    • xarm_api->service: playback_trajectory
  • xarm_msgs::srv::IdenLoad
    • xarm_api->service: iden_tcp_load
    • xarm_api->service: ft_sensor_iden_load
  • xarm_msgs::srv::FtCaliLoad
    • xarm_api->service: ft_sensor_cali_load
  • xarm_msgs::srv::FtForceConfig
    • xarm_api->service: config_force_control
  • xarm_msgs::srv::FtForcePid
    • xarm_api->service: set_force_control_pid
  • xarm_msgs::srv::FtImpedance
    • xarm_api->service: set_impedance
    • xarm_api->service: set_impedance_mbk
    • xarm_api->service: set_impedance_config
  • xarm_msgs::srv::LinearTrackBackOrigin
    • xarm_api->service: set_linear_track_back_origin
  • xarm_msgs::srv::LinearTrackSetPos
    • xarm_api->service: set_linear_track_pos
  • xarm_msgs::srv::PlanPose
    • xarm_planner->service: xarm_pose_plan
  • xarm_msgs::srv::PlanJoint
    • xarm_planner->service: xarm_joint_plan
  • xarm_msgs::srv::PlanSingleStraight
    • xarm_planner->service: xarm_straight_plan
  • xarm_msgs::srv::PlanExec
    • xarm_planner->service: xarm_exec_plan

action

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Recent questions tagged xarm_msgs at Robotics Stack Exchange

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xarm_msgs package from xarm repo

dual_xarm6_moveit_config multi_xarm5 run_recorded_traj xarm5_vacuum_gripper_moveit_config xarm6_vacuum_gripper_moveit_config xarm7_redundancy_res xarm7_vacuum_gripper_moveit_config lite6_moveit_config uf_robot_moveit_config xarm5_gripper_moveit_config xarm5_moveit_config xarm6_gripper_moveit_config xarm6_moveit_config xarm7_gripper_moveit_config xarm7_moveit_config xarm_api xarm_bringup xarm_controller xarm_description xarm_gazebo xarm_gripper xarm_moveit_servo xarm_msgs xarm_planner xarm_sdk camera_demo d435i_xarm_setup

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS packages for robotic products from UFACTORY
Checkout URI https://github.com/xArm-Developer/xarm_ros.git
VCS Type git
VCS Version master
Last Updated 2025-04-17
Dev Status DEVELOPED
CI status Continuous Integration
Released UNRELEASED
Tags robotics ros
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The xarm_msgs package

Additional Links

No additional links.

Maintainers

  • Jason Peng

Authors

No additional authors.
xarm_msgs/ReadMe.md

Service Introduction

  The services and messages defined in this package is based on the programming API. To offer a way for users to call them by ROS interface. Services provided are:

motion_ctrl

  To enable or disable the servo control of any joint.(message type: xarm_msgs::SetAxis)

set_mode

  To set operation mode. (message type: xarm_msgs::SetInt16)
  * 0 for POSE mode, the robot will be position controlled. Trajectory will be planned by XArm Controller.
  * 1 for SERVOJ mode, the robot will be commanded by servo_j function, fast & immediate execution like a step response, use this if user can generate properly interpolated trajectory.
  * 2 for TEACH_JOINT mode, Gravity compensated mode, no position control.

set_state

  To set robot state. (message type: xarm_msgs::SetInt16)
  * 0 for READY/START state, robot must be in this state to perform any motion.
  * 3 for PAUSE state, robot motion will be suspended.
  * 4 for STOP state, if error occurs or configuration changes, robot will switch to this state.

go_home

  Robot will go to home position with specified velocity and acceleration.(message type: xarm_msgs::Move)

move_line

  Robot TCP will move to Caetesian target point with a straight line trajectory. Under specified Cartesian velocity and acceleartion. (message type: xarm_msgs::Move)

move_lineb

  Given a set of targets, robot will move to final target through middle points, at each middle point, 2 straight-line trajectory will be blended with specified radius. (message type: xarm_msgs::Move)

move_joint

  Given all desired joint positions, and max joint angular velocity/acceleration, robot will move to joint space target. (message type: xarm_msgs::Move)

move_servoj:

  Used in SERVOJ mode, and if user have trajectory planned, call this service with high enough rate. Each trajectory point will be executed fast and immediately. (message type: xarm_msgs::Move)

Please check the inside srv files for detailed data information.

Feedback Status Message

Refer to RobotMsg for robot feedback information contents published through topic “/xarm/xarm_states”.

Refer to CIOState for the gpio of the control box feedback information contents published through topic “/xarm/controller_gpio_states”.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
std_msgs
message_generation
message_runtime
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
run_recorded_traj
xarm_api
xarm_controller
xarm_gripper
xarm_planner
d435i_xarm_setup

Recent questions tagged xarm_msgs at Robotics Stack Exchange

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