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.

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)

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

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

# 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.

int8 val

int8 SUCCESS = 1
int8 FAILURE = -1

TriState

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

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

trajectory_msgs/JointTrajectory trajectory
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industrial_msgs/ServiceReturnCode code

GetRobotInfo

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

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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.

bool drive_power
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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.

industrial_msgs/DebugLevel level
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industrial_msgs/ServiceReturnCode code

StartMotion

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

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industrial_msgs/ServiceReturnCode code

StopMotion

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

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industrial_msgs/ServiceReturnCode code