ROS:

Call Robotic Arm JSON Protocol

To facilitate users in controlling the robotic arm through ROS1, RealMan provides a JSON-based ROS1 package, which allows querying and controlling the robotic arm through ROS topics. In actual use of the robotic arm, users can establish communication and control the robotic arm through the Ethernet port.

System error code

S/N	Error Code (Hexadecimal)	Description
1	0x0000	Normal system
2	0x1001	Abnormal joint communication
3	0x1002	Target angle out of limit
4	0x1003	Point unreachable as a singularity
5	0x1004	Real-time kernel communication error
6	0x1005	Joint communication bus error
7	0x1006	Planning layer kernel error
8	0x1007	Joint overspeed
9	0x1008	End interface board disconnected
10	0x1009	Speed out of limit
11	0x100A	Acceleration out of limit
12	0x100B	Joint brake release failed
13	0x100C	Overspeed during drag teaching
14	0x100D	Robotic arm collision
15	0x100E	Null work frame
16	0x100F	Null tool frame
17	0x1010	Joint disabling error
18	0x1011	Circular planning error
19	0x1012	Self-collision error
20	0x1013	Electronic fence collision error (reserved)
21	0x5001	Reserved
22	0x5002	Reserved
23	0x5003	Controller over-temperature
24	0x5004	Reserved
25	0x5005	Controller overcurrent
26	0x5006	Controller undercurrent
27	0x5007	Controller overvoltage
28	0x5008	Controller undervoltage
29	0x5009	Real-time layer communication error

Joint error code

S/N	Error Code (Hexadecimal)	Description
1	0x0000	Normal joint
2	0x0001	FOC error
3	0x0002	Overvoltage
4	0x0004	Undervoltage
5	0x0008	over-temperature
6	0x0010	Start failed
7	0x0020	Encoder error
8	0x0040	Overcurrent
9	0x0080	Software error
10	0x0100	Temperature sensor error
11	0x0200	Position out of limit error
12	0x0400	Invalid joint ID
13	0x0800	Position tracking error
14	0x1000	Current detection error
15	0x2000	Brake release failed
16	0x4000	Position command step warning
17	0x8000	Multi-coil joint data loss
18	0xF000	Communication frame loss

Set the joint enabling state

Parameter description:Joint_Enable.msg performs the enabling operation on the specified joint

Parameter	Type	Description
joint_num	uint8	Corresponding joint number, from the base to the robotic arm's gripper. The joint numbers for the 6-DoF are sequentially 1 to 6, and those for the 7-DoF are sequentially 1 to 7.
state	bool	true: enable, false: disable

Usage command demo:

rostopic pub /rm_driver/Joint_Enable rm_msgs/Joint_Enable "joint_num: 1 state: true"

Return command demo:

rostopic echo /rm_driver/Joint_En_State_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Change the current tool frame

Parameter description:

Parameter	Type	Description
std_msgs	String	ROS built-in msg

Usage command demo:

rostopic pub /rm_driver/ChangeToolName_Cmd rm_msgs/ChangeTool_Name "toolname: '6WM'"

Return command demo:

rostopic echo /rm_driver/ChangeTool_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Change the current work frame

Parameter description:

Parameter	Type	Description
std_msgs	String	ROS built-in msg

Usage command demo:

rostopic pub /rm_driver/ChangeWorkFrame_Cmd rm_msgs/ChangeWorkFrame_Name "WorkFrame_name: 'Base'"

Return command demo:

rostopic echo /rm_driver/ChangeWorkFrame_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Get the current work frame

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg

Usage command demo:

rostopic pub /rm_driver/GetTotalWorkFrame std_msgs/Empty "{}"

Return value check: check according to the printed information from the rm_driver node.

Get the current joint current of the robotic arm

Parameter description:

Parameter	Type	Description
std_msgs	String	ROS built-in msg

Usage command demo:

rostopic pub /rm_driver/GetCurrentJointCurrent std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/Joint_Current

Parameter description:Joint_Current.msg

Parameter	Type	Description
joint_current	float32[]	Joint current (in uA)

Robotic arm motion planning

Joint motion in spaceMoveJ.msg

Parameter description:

Parameter	Type	Description
joint	float32[]	Joint angle, in rad.
speed	float32	Speed ratio, 0-1.
trajectory_connect	uint8	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

Usage command demo:

6-DoF robotic arm

rostopic pub /rm_driver/MoveJ_Cmd rm_msgs/MoveJ "joint: [0, 0, 0, 0, 0, 0] speed: 0.2"

7-DoF robotic arm

rostopic pub /rm_driver/MoveJ_Cmd rm_msgs/MoveJ "joint: [0, 0, 0, 0, 0, 0, 0] speed: 0.2 trajectory_connect: 0"

Return command demo:

rostopic echo /rm_driver/Plan_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Cartesian-space linear motionMoveL.msg

Parameter description:

Parameter	Type	Description
Pose	geometry_msgs/Pose	Robotic arm pose, including x, y, z coordinates (float type, in m) + quaternion.
speed	float32	Speed ratio, 0-1.
trajectory_connect	uint8	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

Usage command demo:

rostopic pub /rm_driver/MoveL_Cmd rm_msgs/MoveL "Pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
speed: 0.2
trajectory_connect: 0"

Return command demo:

rostopic echo /rm_driver/Plan_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Cartesian-space circular motionMoveC.msg

Parameter description:

Parameter	Type	Description
Mid_Pose	geometry_msgs/Pose	Middle pose, including x, y, z coordinates (float type, in m) + quaternion.
End_Pose	geometry_msgs/Pose	End pose, including x, y, z coordinates (float type, in m) + quaternion.
speed	float32	Speed ratio, 0-1.
trajectory_connect	uint8	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

Usage command demo:

rostopic pub /rm_driver/MoveC_Cmd rm_msgs/MoveC "Mid_Pose:
  position:
    x: 0.2949
    y: 0.1377
    z: 0.1048
  orientation:
    x: 0.05
    y: -0.989
    z: -0.1359
    w: 0.0274
End_Pose:
  position:
    x: 0.2417
    y: 0.0
    z: 0.1213
  orientation:
    x: 0.0136
    y: 0.9993
    z: 0.0241
    w: 0.0261
speed: 0.5
trajectory_connect: 0"

Return command demo:

rostopic echo /rm_driver/Plan_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Joint angle CANFD pass-throughJointPos.msg

Parameter description:

Parameter	Type	Description
joint	float32[]	Joint angle, in rad.
expand	float32	Expansion angle, in rad.

Usage command demo: Pass-through requires continuously sending multiple consecutive points to achieve the functionality. Simply relying on the following command will not accomplish the task. Currently, moveit control uses an angle pass-through control method.

rostopic pub /rm_driver/JointPos rm_msgs/JointPos "joint: [0, 0, 0, 0, 0, 0] expand: 0.0"

Return parameter description: Succeeded: no return value; failed: return the error code from the driver terminal.

Pose CANFD pass-throughCartePos.msg

Parameter description:

Parameter	Type	Description
Pose	geometry_msgs/Pose	Pass-through pose, including x, y, z coordinates (float type, in m) + quaternion.

Usage command demo: A large number of consecutive points (more than 10) are required. Simply relying on the following command will not accomplish the task. It needs to continuously publish with a cycle of at least 2 ms.

rostopic pub /rm_driver/MoveP_Fd_Cmd rm_msgs/CartePos 
"Pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"

Return parameter description: Succeeded: no return value; failed: return the error code from the driver terminal.

Joint space planning to target orientationMoveJ_P.msg

Parameter description:

Parameter	Type	Description
Mid_Pose	geometry_msgs/Pose	Target pose, including x, y, z coordinates (float type, in m) + quaternion.
speed	float32	Speed ratio, 0-1.
trajectory_connect	uint8	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

Usage command demo:

rostopic pub /rm_driver/MoveJ_P_Cmd rm_msgs/MoveJ_P "Pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
speed: 0.0
trajectory_connect: 0"

Return command demo:

rostopic echo /rm_driver/Plan_State

Robotic arm motion configuration - step command

Joint stepJoint_Step.msg

Parameter description:

Parameter	Type	Description
joint_num	uint8	Joint to be moved.
step_angle	float32	Step angle (in °).
speed	float32	Motion speed.

Usage command demo: 6-DoF robotic arm

rostopic pub /rm_driver/SetJointStep rm_msgs/Joint_Step "joint_num: 6 step_angle: 90.0  speed: 0.2"

7-DoF robotic arm

rostopic pub /rm_driver/SetJointStep rm_msgs/Joint_Step "joint_num: 7 step_angle: 90.0 speed: 0.2"

Return command demo:

rostopic echo /rm_driver/Plan_State

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Robotic arm motion configuration - motion command

Quick stopStop.msg

Parameter description:

Parameter	Type	Description
state	tool	true: valid, false: invalid

Usage command demo:

rostopic pub /rm_driver/Emergency_Stop rm_msgs/Stop "state: true"

Return command demo:

rostopic echo /rm_driver/Set_Arm_Stop_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Robotic arm motion configuration - teaching command class

Joint teachingJoint_Teach.msg

Parameter description:

Parameter	Type	Description
teach_joint	int16	Teaching control joint
direction	string	Joint rotation direction, "pos": positive direction, "neg": negative direction
v	int16	Joint rotation speed, 0-100

Usage command demo: 6-DoF robotic arm

rostopic pub /rm_driver/Arm_JointTeach rm_msgs/Joint_Teach "teach_joint: 1 direction: 'pos' v: 20"

Return command demo:

rostopic echo /rm_driver/SetJointTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Position teachingPos_Teach.msg

Parameter description:

Parameter	Type	Description
teach_type	string	Coordinate axis, "x", "y", "z"
direction	string	Teaching direction, "pos": positive direction, "neg": negative direction
v	int16	Joint rotation speed, 0-100

Usage command demo:

rostopic pub /rm_driver/Arm_PosTeach rm_msgs/Pos_Teach "teach_type: 'z' direction: 'pos' v: 10"

Return command demo:

rostopic echo /rm_driver/SetPosTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Orientation teachingOrt_Teach.msg

Parameter description:

Parameter	Type	Description
joint_num	string	Rotation axis, "rx", "ry", "rz"
step_angle	string	Teaching direction, "pos": positive direction, "neg": negative direction
v	int16	Joint rotation speed, 0-100

Usage command demo:

rostopic pub /rm_driver/Arm_OrtTeach rm_msgs/Ort_Teach "teach_type: 'rz' direction: 'pos' v: 10"

Return command demo:

rostopic echo /rm_driver/SetOrtTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Stop teachingStop_Teach.msg

Parameter description:

Parameter	Type	Description
command	string	Stop command "set_stop_teach", execute the following command to stop

Usage command demo:

rostopic pub /rm_driver/Arm_StopTeach rm_msgs/Stop_Teach "command: ''"

Return command demo:

rostopic echo /rm_driver/SetStopTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

System configuration

Control the power on/off of the robotic arm

Parameter description:

Parameter	Type	Description
std_msgs	Byte msg	1: Power on the robotic arm, 0: Power off the robotic arm

Usage command demo:

rostopic pub /rm_driver/SetArmPower std_msgs/Byte "data: 0"

Return command demo:

rostopic echo /rm_driver/Set_Arm_Power_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Read the software version number

Parameter description:

Parameter	Type	Description
std_msgs	Byte msg	1: Power on the robotic arm, 0: Power off the robotic arm

Usage command demo:

rostopic pub /rm_driver/Get_Arm_Software_Version std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/Get_Arm_Software_Version_Result

Parameter description:

Parameter	Type	Description
Arm_Software_Version.msg	string	Product_version # Robotic arm type Plan_version #Software version number

Clear system errors

Parameter description:

Parameter	Type	Description
std_msgs	Empty msg	/

Usage command demo:

rostopic pub /rm_driver/Clear_System_Err std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/System_En_State_Result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed.

Get the robotic arm state

Get the current joint current of the robotic armJoint_Current.msg

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg

Usage command demo:

rostopic pub /rm_driver/GetCurrentJointCurrent std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/Joint_Current

Parameter description:

Parameter	Type	Description
joint_current	float32[]	Joint current (in uA)

Get the joint angle of the robotic arm

Parameter description:

Parameter	Type	Description
std_msgs	Empty msg	/

Usage command demo:

rostopic pub /rm_driver/GetArmJoint_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /joint_states

Parameter description:

Parameter	Type	Description
sensor_msgs	JointState	/

Get the robotic arm state (radian + quaternion)GetArmState_Command.msg

Parameter description:

Parameter	Type	Description
command	string	/

Usage command demo:

rostopic pub /rm_driver/GetArmState_Cmd rm_msgs/GetArmState_Command "command: ''"

Return command demo:

rostopic echo /rm_driver/ArmCurrentState

Parameter description:ArmState.msg

Parameter	Type	Description
joint	float32[]	Radian of the robotic arm
Pose	bool	Current pose of the robotic arm (quaternion)
arm_err	bool	Robotic arm error
sys_err	bool	System error
dof	bool	Degree of freedom of the robotic arm

Get the robotic arm state (angle + Euler angle)GetArmState_Command.msg

Parameter description:

Parameter	Type	Description
command	string	/

Usage command demo:

rostopic pub /rm_driver/GetArmState_Cmd rm_msgs/GetArmState_Command "command: ''"

Return command demo:

rostopic echo /rm_driver/Arm_Current_State

Parameter description:Arm_Current_State.msg

Parameter	Type	Description
joint	float32[]	Angle of the robotic arm
Pose	bool	Current pose of the robotic arm (Euler angle)
arm_err	bool	Robotic arm error
sys_err	bool	System error
dof	bool	Degree of freedom of the robotic arm

Controller IO configuration and acquisition

Set the digital IO output state of the robotic armArm_Digital_Output.msg

Parameter description:

Parameter	Type	Description
num	uint8	IO port number, range: 1-4
state	bool	“state”: IO state, 1: high output, 0: low output

Usage command demo:

rostopic pub /rm_driver/Arm_Digital_Output rm_msgs/Arm_Digital_Output "num: 1 state: true"

Return command demo:

rostopic echo /rm_driver/Set_DO_State_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Get all IO input statesIO_Update.msg

Parameter description:

Parameter	Type	Description
type	int8	1: Get controller IO state; 2: Get tool-end IO state

Usage command demo:

rostopic pub /rm_driver/IO_Update rm_msgs/IO_Update "type: 1"

Return command demo:

rostopic echo /rm_driver/Arm_IO_State

Parameter description:Arm_IO_State.msg

Parameter	Type	Description
Arm_Digital_Input	nt8[4]	1: high, -1: output

Tool-end IO configuration and acquisition

Set tool-end digital IO output stateTool_Digital_Output.msg

Parameter description:

Parameter	Type	Description
num	uint8	IO port number, range: 1-4
state	bool	“state”: IO state, 1: high output, 0: low output

Usage command demo:

rostopic pub /rm_driver/Tool_Digital_Output rm_msgs/Tool_Digital_Output "num: 1 state: true"

Return command demo:

rostopic echo /rm_driver/Set_Tool_DO_State_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Get tool-end digital IO stateIO_Update.msg

Parameter description:

Parameter	Type	Description
type	uint8	1: Get controller IO state; 2: Get tool-end IO state

Usage command demo:

rostopic pub /rm_driver/IO_Update rm_msgs/IO_Update "type: 2"

Return command demo:

rostopic echo /rm_driver/Tool_IO_State

Parameter description:Tool_IO_State.msg

Parameter	Type	Description
Tool_IO_Mode	bool[2]	Digital I/O input/output state, 0: input mode, 1: output mode
Tool_IO_State	bool[2]	Digital I/O level state 0: Low, 1: High

Control of the end effector gripper (optional)

The RealMan robotic arm is equipped with the INSPIRE-ROBOTS EG2-4C2 gripper at the end effector. To facilitate user operation of the gripper, the robotic arm controller has adapted the gripper for ROS-based control.

Set the continuous force-controlled grasping of the gripper Gripper_Pick.msg

The gripper controls the gripping force at a set speed, and stops moving when the applied force exceeds the preset limit

Parameter description:

Parameter	Type	Description
speed	uint16	1-1000, representing the gripper opening and closing speed, without unit of measurement
force	uint16	1-1000, representing the gripping force of the gripper, with a maximum of 1.5 kg

Usage command demo:

rostopic pub /rm_driver/Gripper_Pick_On rm_msgs/Gripper_Pick "speed: 100 force: 100"

Return command demo:

rostopic echo /rm_driver/Set_Gripper_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the force-controlled grasping of the gripper Gripper_Pick.msg

The gripper controls the gripping force at a set speed, and stops moving when the applied force exceeds the preset limit.

Parameter description:

Parameter	Type	Description
speed	uint16	1-1000, representing the gripper opening and closing speed, without unit of measurement
force	uint16	1-1000, representing the gripping force of the gripper, with a maximum of 1.5 kg

Usage command demo:

rostopic pub /rm_driver/Gripper_Pick rm_msgs/Gripper_Pick "speed: 100 force: 100"

Return command demo:

rostopic echo /rm_driver/Set_Gripper_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the gripper to a given positionGripper_Set.msg

Set the gripper to a fixed position. The gripper should stop either once it reaches the position or when the force exceeds the threshold.

Parameter description:

Parameter	Type	Description
position	uint16	Gripper target position, range: 1-1.000, representing the gripper opening: 0-70 mm

Usage command demo:

rostopic pub /rm_driver/Gripper_Set rm_msgs/Gripper_Set "position: 100"

Return command demo:

rostopic echo /rm_driver/Set_Gripper_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Use of end effector s6-DoF force sensor (optional)

The RealMan RM-65F robotic arm is equipped with an integrated 6-DoF force sensor at the end effector, eliminating the need for external wiring. Users can directly control the 6-DoF force through ROS topics.

Get the 6-DoF force data

Parameter description:

Parameter	Type	Description
std_msgs	Empty msg	/

Usage command demo:

rostopic pub /rm_driver/GetSixForce_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/GetSixForce     #Original 6-DoF force state
rostopic echo /rm_driver/SixZeroForce    #6-DoF force state in the sensor frame
rostopic echo /rm_driver/WorkZeroForce   #Sensor data in the work frame
rostopic echo /rm_driver/ToolZeroForce   #Sensor data in the tool frame

Parameter description:Six_Force.msg

Parameter	Type	Description
force_Fx	float32	/
force_Fy	float32	/
force_Fz	float32	/
force_Mx	float32	/
force_My	float32	/
force_Mz	float32	/

Clear the 6-DoF force data

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/ClearForceData_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/ClearForceData_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Automatically set 6-DoF force center of gravity parameters

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/SetForceSensor_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/ForceSensorSet_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Manually calibrate 6-DoF force data

Parameter description:

Manual_Set_Force_Pose.msg

Parameter	Type	Description
pose1	string	Pose 1 joint angle;
pose2	string	Pose 2 joint angle;
pose3	string	Pose 3 joint angle;
pose4	string	Pose 4 joint angle;
joint	int64[]	Accuracy: 0.001°, e.g., 90°: 90000;

Warning

The four poses must be issued in sequence. Once pose4 is set, the robotic arm will move to the given pose.

Usage command demo:

rostopic pub /rm_driver/ManualSetForcePose_Cmd rm_msgs/Manual_Set_Force_Pose "pose: ' pose1' joint:  [0, 0, 0, 0, 90000, 0]"

Return command demo:

rostopic echo /rm_driver/ForceSensorSet_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Stop calibrating the center of gravity of the force sensor

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/StopSetForceSensor_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/StopSetForceSensor_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Drag teaching

Stop the drag teaching

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/StartMultiDragTeach_result std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/StopDragTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Enable multiple drag teaching

Parameter description:Start_Multi_Drag_Teach.msg

Parameter	Type	Description
mode	uint8	0: current loop mode, 1: position-only drag in the 6-DoF force mode, 2: orientation-only drag in the 6-DoF force mode, 3: position-orientation drag in the 6-DoF force mode

Usage command demo:

rostopic pub /rm_driver/StartMultiDragTeach_Cmd rm_msgs/Start_Multi_Drag_Teach "mode: 0"

Return command demo:

rostopic echo /rm_driver/StartMultiDragTeach_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Force-position hybrid controlSet_Force_Position.msg

Parameter description:

Parameter	Type	Description
mode	sensor	Sensor, 0: 1-DoF force, 1: 6-DoF force
mode	uint8	0: force control in the work frame, 1: force control in the tool frame
direction	uint8	Force control direction0: along the X-axis1: along the Y-axis2: along the Z-axis3: along the RX orientation4: along the RY orientation5: along the RZ orientation

Usage command demo:

rostopic pub /rm_driver/SetForcePosition_Cmd rm_msgs/Set_Force_Position "sensor: 0 mode: 0 direction: 0 N: 0"。

Return command demo:

rostopic echo /rm_driver/SetForcePosition_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Stop the force-position hybrid control

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/StopForcePostion_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/StopForcePostion_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Control of end effector five-fingered dexterous hand (optional)

The RealMan robotic arm is equipped with a five-fingered dexterous hand, which can be configured by the ROS.

Set the gesture sequence number of the dexterous handHand_Posture.msg

Parameter description:

Parameter	Type	Description
posture_num	uint16	#Gesture sequence number pre-stored in the dexterous hand, range: 1-40

Usage command demo:

rostopic pub /rm_driver/Hand_SetPosture rm_msgs/Hand_Posture "posture_num: 0"

Return command demo:

rostopic echo /rm_driver/Set_Hand_Posture_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the action sequence of the dexterous handHand_Seq.msg

Parameter description:

Parameter	Type	Description
seq_num	uint16	Sequence number pre-stored in the dexterous hand, range: 1-40

Usage command demo:

rostopic pub /rm_driver/Hand_SetSeq rm_msgs/Hand_Seq "seq_num: 0"

Return command demo:

rostopic echo /rm_driver/Set_Hand_Seq_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the angles of the dexterous handHand_Angle.msg

Set the angles of the dexterous hand, which has 6 degrees of freedom: 1. Little finger, 2. Ring finger, 3. Middle finger, 4. Index finger, 5. Thumb bending, 6. Thumb rotation. Parameter description:

Parameter	Type	Description
hand_angle	uint16	Array of finger angles, range: 0-1,000. Additionally, -1 indicates that no action will be performed for this degree of freedom, and the current state will be maintained

Usage command demo:

rostopic pub /rm_driver/Hand_SetAngle rm_msgs/Hand_Angle "hand_angle: [0, 0, 0, 0, 0, 0]"

Return command demo:

rostopic echo /rm_driver/Set_Hand_Angle_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the speed of the dexterous handHand_Speed.msg

Parameter description:

Parameter	Type	Description
hand_speed	uint16	Finger speed, range: 1−1,000

Usage command demo:

rostopic pub /rm_driver/Hand_SetSpeed rm_msgs/Hand_Speed "hand_speed: 0"

Return command demo:

rostopic echo /rm_driver/Set_Hand_Speed_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the force threshold of the dexterous handHand_Force.msg

Parameter description:

Parameter	Type	Description
hand_Force	uint16	Finger force, range: 1−1,000

Usage command demo:

rostopic pub /rm_driver/Hand_SetForce rm_msgs/Hand_Force "hand_force: 0"

Return command demo:

rostopic echo /rm_driver/Set_Hand_Force_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Pass-through force-position hybrid control compensation mode

For RealMan robotic arms with both 1-DoF and 6-DoF force versions, in addition to directly using the teach pendant to call the underlying force-position hybrid control module, users can also use this interface to integrate custom trajectories with the underlying force-position hybrid control algorithm for compensation in a periodic pass-through form.

Enable the pass-through force-position hybrid control compensation mode

Parameter description:

Parameter	Type	Description
std_msgs	Empty msg	/

Usage command demo:

rostopic pub /rm_driver/StartForcePositionMove_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/StartForcePositionMove_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Pass-through force-position hybrid control compensation (pose)Force_Position_Move_Pose.msg

Parameter description:

Parameter	Type	Description
Pose	geometry_msgs/Pose	#Quaternion
sensor	geometry_msgs/Pose	#Type of sensor used, 0: 1-DoF force, 1: 6-DoF force
mode	geometry_msgs/Pose	#Mode, 0: along the work frame, 1: along the tool frame
dir	geometry_msgs/Pose	#Force control direction, 0−5: X/Y/Z/Rx/Ry/Rz. For the 1-DoF force type, the default direction is the Z-axis
force	geometry_msgs/Pose	#Magnitude of the force, accuracy: 0.1 N or 0.1 N.m

Usage command demo:

rostopic pub /rm_driver/ForcePositionMovePose_Cmd rm_msgs/Force_Position_Move_Pose "Pose:   position: {x: 0.0, y: 0.0, z: 0.0}   orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0} sensor: 1 mode: 0 dir: 0 force: 0"

Parameter description:

Succeeded: no return value, failed: return error message in the rm_driver node.

Pass-through force-position hybrid control compensation (radian)Force_Position_Move_Joint.msg

Parameter description:

Parameter	Type	Description
joint	float32[]	Radian.
sensor	geometry_msgs/Pose	Type of sensor used, 0: 1-DoF force, 1: 6-DoF force.
mode	geometry_msgs/Pose	Mode, 0: along the work frame, 1: along the tool frame.
dir	geometry_msgs/Pose	Force control direction, 0−5: X/Y/Z/Rx/Ry/Rz. For the 1-DoF force type, the default direction is the Z-axis.
force	geometry_msgs/Pose	Magnitude of the force, accuracy: 0.1 N or 0.1 N.m.
dof	uint8	Degree of freedom of the robotic arm.

Usage command demo:

rostopic pub /rm_driver/ForcePositionMoveJiont_Cmd rm_msgs/Force_Position_Move_Joint "joint: [0, 0, 0, 0, 0, 0] sensor: 0 mode: 0 dir: 0 force: 0 dof: 0"

Parameter description:

Succeeded: no return value, failed: return error message in the rm_driver node

Enable the pass-through force-position hybrid control compensation mode

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/StopForcePositionMove_Cmd std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/StopForcePositionMove_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Lifting mechanism

The RealMan robotic arm can integrate a self-developed lifting mechanism.

Set the open-loop speed control of the lifting mechanismLift_Speed.msg

Parameter description:

Parameter	Type	Description
speed	int16	Speed percentage, -100 to 100Speed < 0: Lifting mechanism moves downSpeed > 0: Lifting mechanism moves upSpeed = 0: Lifting mechanism stops moving.

Usage command demo:

rostopic pub /rm_driver/Lift_SetSpeed rm_msgs/Lift_Speed "speed: 0"

Return command demo:

rostopic echo /rm_driver/Set_Lift_Speed_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Set the closed-loop position control of the lifting mechanismLift_Height.msg

The lifting mechanism runs to the specified height. Parameter description:

Parameter	Type	Description
height	uint16	Target height, in mm, range: 0-2,600.
speed	uint16	Speed percentage, 1−100.

Usage command demo:

rostopic pub /rm_driver/Lift_SetHeight rm_msgs/Lift_Height "height: 0 speed: 0"

Return command demo:

rostopic echo /rm_driver/Plan_State

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Get the state of the lifting mechanism

Parameter description:

Parameter	Type	Description
std_msgs	Empty msg	/

Usage command demo:

rostopic pub /rm_driver/Lift_GetState std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/LiftState

Parameter description:LiftState.msg

Parameter	Type	Description
height	int16	Current height.
current	int16	Current current.
err_flag	uint16	Drive error code.
mode	byte	Current lifting state0: idle1: forward speed motion2: forward position motion3: backward speed motion4: backward position motion.

Robotic arm state active reporting

Set the UDP robotic arm state active reporting configurationSet_Realtime_Push.msg

Parameter description:

Parameter	Type	Description
cycle	uint16	Set the broadcast cycle, which is a multiple of 5 ms (1 by default, i.e., 1*5=5 ms, or 200 Hz).
port	uint16	Set the broadcast port number (8089 by default).
force_coordinate	uint16	Set the frame for external force data (only supported by robotic arms with force sensors).
ip	string	Set the custom reporting target IP address (192.168.1.10 by default).

Usage command demo:

rostopic pub /rm_driver/Set_Realtime_Push rm_msgs/Set_Realtime_Push "cycle: 1 port: 8089 force_coordinate: 0 ip: '192.168.1.10'"

Return command demo:

rostopic echo /rm_driver/Set_Realtime_Push_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

Get the UDP robotic arm state active reporting configuration

Parameter description:

Parameter	Type	Description
std_msgs	Empty	/

Usage command demo:

rostopic pub /rm_driver/Get_Realtime_Push std_msgs/Empty "{}"

Return command demo:

rostopic echo /rm_driver/Get_Realtime_Push_Result

Parameter description:

Parameter	Type	Description
std_msgs	Bool	true: setting succeeded, false: setting failed.

UDP robotic arm state active reporting

6-DoF forceSix_Force.msg

Parameter description:

Parameter	Type	Description
force_fx	float32	Magnitude of the force along the x-axis.
force_fy	float32	Magnitude of the force along the y-axis.
force_fz	float32	Magnitude of the force along the z-axis.
force_mx	float32	Magnitude of rotation force along the x-axis.
force_my	float32	Magnitude of rotation force along the y-axis.
force_mz	float32	Magnitude of rotation force along the z-axis.

Usage command demo:

rostopic echo /rm_driver/UdpSixForce

Robotic arm errorstd_msgs::msg::UInt16

Parameter description:

Parameter	Type	Description
data	uint16	Robotic arm error.

Usage command demo:

rostopic echo /rm_driver/ArmError

System errorstd_msgs::msg::UInt16

Parameter description:

Parameter	Type	Description
data	uint16	System error.

Usage command demo:

rostopic echo/rm_driver/SysError

Joint errorJoint_Error_Code.msg

Parameter description:

Parameter	Type	Description
joint_error	uint16[]	Each joint error

Usage command demo:

rostopic echo /rm_driver/JointErrorCode

Robot arm radian datasensor_msgs::msg::JointState

Parameter description:

Parameter	Type	Description
header.seq	uint32	Time, in s.
header.stamp	class	Time, in s.
header.frame_id	string	Frame name.
name	string[]	Joint name.
position	float64[]	Joint radian.
velocity	float64[]	Joint velocity. (Not currently in use)
sec	float64[]	Joint force. (Not currently in use)

Usage command demo:

rostopic echo /joint_states

Function description	Robotic arm radian data
Parameter description	sensor_msgs::msg::JointStatebuiltin_interfaces/Time stampint32 sec: time, in s. uint32 nanosec: time, in ns. string frame_id: frame name. string[] name: joint name. float64[] position: joint radian. float64[] velocity: joint velocity. (Not currently in use) float64[] effort: Joint force. (Not currently in use)
Subscription command	rostopic echo /joint_states

Pose informationgeometry_msgs::msg::Pose Point

Parameter description:

Parameter	Type	Description
position.x	float64	Current coordinates of the robotic arm.
position.y	float64	Current coordinates of the robotic arm.
position.z	float64	Current coordinates of the robotic arm.
Quaternion orientation.x	float64	Current orientation of the robotic arm.
Quaternion orientation.y	float64	Current orientation of the robotic arm.
Quaternion orientation.z	float64	Current orientation of the robotic arm.
Quaternion orientation.w	float64	Current orientation of the robotic arm.

Usage command demo:

rostopic echo /rm_driver/Pose_State

Current external force data of the 6-DoF force sensor systemSix_Force.msg

Parameter description:

Parameter	Type	Description
force_fx	float32	Magnitude of external force along the x-axis of the current sensor.
force_fy	float32	Magnitude of external force along the y-axis of the current sensor.
force_fz	float32	Magnitude of external force along the z-axis of the current sensor.
force_mx	float32	Magnitude of rotation force along the x-axis.
force_my	float32	Magnitude of rotation force along the y-axis.
force_mz	float32	Magnitude of rotation force along the z-axis.

Usage command demo:

rostopic echo /rm_driver/UdpSixZeroForce

Reference frame for external force datastd_msgs::UInt16

Parameter description:

Parameter	Type	Description
force_fx	float32	Magnitude of the force along the x-axis.
data	uint16	Frame for external force data0: sensor frame1: current work frame2: current tool frameThis data will affect the reference coordinate system for the external force data of the 1-DoF force and 6-DoF force sensor systems.

Usage command demo:

rostopic echo /rm_driver/Udp_Coordinate