industrial_msgs
===============

``industrial_msgs`` defines 12 interface(s).

Messages
--------

DebugLevel
~~~~~~~~~~

Debug level message enumeration.  This may replicate some functionality that alreay exists in the ROS logger. TODO: Get more information on the ROS Logger.

.. code-block:: text

   uint8 val

   uint8 DEBUG = 5
   uint8 INFO = 4
   uint8 WARN = 3
   uint8 ERROR = 2
   uint8 FATAL = 1
   uint8 NONE = 0 

DeviceInfo
~~~~~~~~~~

Device info captures device agnostic information about a piece of hardware. This message is meant as a generic as possible.  Items that don't apply should be left blank.  This message is not meant to replace diagnostic messages, but rather provide a standard service message that can be used to populate standard components (like a GUI for example)

.. code-block:: text

   string model
   string serial_number
   string hw_version
   string sw_version
   string address

RobotMode
~~~~~~~~~

The Robot mode message encapsulates the mode/teach state of the robot Typically this is controlled by the pendant key switch, but not always

.. code-block:: text

   int8 val

   # enumerated values
   int8 UNKNOWN=-1                 # Unknown or unavailable         
   int8 MANUAL=1 			 # Teach OR manual mode
   int8 AUTO=2                     # Automatic mode


RobotStatus
~~~~~~~~~~~

The RobotStatus message contains low level status information that is specific to an industrial robot controller

.. code-block:: text

   # The header frame ID is not used
   std_msgs/Header header

   # The robot mode captures the operating mode of the robot.  When in
   # manual, remote motion is not possible.
   industrial_msgs/RobotMode mode

   # Estop status: True if robot is e-stopped.  The drives are disabled
   # and motion is not possible.  The e-stop condition must be acknowledged
   # and cleared before any motion can begin.
   industrial_msgs/TriState e_stopped

   # Drive power status: True if drives are powered.  Motion commands will 
   # automatically enable the drives if required.  Drive power is not requred
   # for possible motion
   industrial_msgs/TriState drives_powered

   # Motion enabled: True if robot motion is possible.
   industrial_msgs/TriState motion_possible

   # Motion status: True if robot is in motion, otherwise false
   industrial_msgs/TriState in_motion

   # Error status: True if there is an error condition on the robot. Motion may
   # or may not be affected (see motion_possible)
   industrial_msgs/TriState in_error

   # Error code: Vendor specific error code (non zero indicates error)
   int32 error_code

ServiceReturnCode
~~~~~~~~~~~~~~~~~

Service return codes for simple requests.  All ROS-Industrial service replies are required to have a return code indicating success or failure Specific return codes for different failure should be negative.

.. code-block:: text

   int8 val

   int8 SUCCESS = 1
   int8 FAILURE = -1


TriState
~~~~~~~~

The tri-state captures boolean values with the additional state of unknown

.. code-block:: text

   int8 val

   # enumerated values

   # Unknown or unavailable 
   int8 UNKNOWN=-1  

   # High state                       
   int8 TRUE=1
   int8 ON=1
   int8 ENABLED=1
   int8 HIGH=1
   int8 CLOSED=1

   # Low state
   int8 FALSE=0
   int8 OFF=0
   int8 DISABLED=0
   int8 LOW=0
   int8 OPEN=0


Services
--------

CmdJointTrajectory
~~~~~~~~~~~~~~~~~~

Send a JointTrajectory command to the robot. - duplicates functionality of the joint_path_command topic - provides a response-code to verify command was received - returns when trajectory is sent to robot, not when motion completed - return code may NOT indicate successful transfer to robot

.. code-block:: text

   trajectory_msgs/JointTrajectory trajectory
   ---
   industrial_msgs/ServiceReturnCode code

GetRobotInfo
~~~~~~~~~~~~

The Get Robot Info service returns vendor specific information about the robot(s) connected by the driver

.. code-block:: text

   ---
   industrial_msgs/DeviceInfo controller
   industrial_msgs/DeviceInfo[] robots
   industrial_msgs/ServiceReturnCode code

SetDrivePower
~~~~~~~~~~~~~

Direct method of turning drive power on and off NOTE: Motion commands will automatically to this if drive power is not on and a motion command is received.

.. code-block:: text

   bool drive_power
   ---
   industrial_msgs/ServiceReturnCode code

SetRemoteLoggerLevel
~~~~~~~~~~~~~~~~~~~~

Sets logging level for a remote device that is attached to ROS via some communications link.  This service is meant to set the log level on the device directly so that the comms link is not overloaded with messages.

.. code-block:: text

   industrial_msgs/DebugLevel level
   ---
   industrial_msgs/ServiceReturnCode code

StartMotion
~~~~~~~~~~~

Resume current robot motion (e.g. after stop_motion or robot fault)

.. code-block:: text

   ---
   industrial_msgs/ServiceReturnCode code

StopMotion
~~~~~~~~~~

Stops current robot motion.  Motion resumed by using start_motion service or by sending a new motion command

.. code-block:: text

   ---
   industrial_msgs/ServiceReturnCode code