ROS2:

Introduction to the ROS2 Calling API Interface Package (V1.0.0)

To facilitate users in controlling the robotic arm through ROS2, RealMan provides an API-based ROS2 package, and the details on the control of the robotic arm are available in the relevant documents and descriptions of the API. In actual use, users establish communication with the robotic arm through the Ethernet port to control the robotic arm.

Error description

Type of the system error

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

Type of the joint error

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

Type of the API error

S/N	Error Code (Hexadecimal)	Description
1	0x0000	Normal system
2	0x0001	Request return: FALSE
3	0x0002	Uninitialized robotic arm or invalid type input
4	0x0003	Illegal timeout
5	0x0004	Socket initialization failed
6	0x0005	Socket connection failed
7	0x0006	Socket transmission failed
8	0x0007	Socket communication timeout
9	0x0008	Unknown error
10	0x0009	Incomplete data
11	0x000A	Array length error
12	0x000B	Data type error
13	0x000C	Type error
14	0x000D	Callback function missing
15	0x000E	Abnormal robotic arm stop
16	0x000F	Excessively long name of the trajectory file
17	0x0010	Trajectory file verification failed
18	0x0011	Trajectory file read failed
19	0x0012	The controller is busy, please try again later
20	0x0013	Invalid input
21	0x0014	Full data queue
22	0x0015	Computation failed
23	0x0016	File open failed
24	0x0017	Manual stop of the force control calibration
25	0x0018	No savable trajectory

Joint configuration

Clear the joint error code Jointerrclear.msg

Parameter description:

Parameter	Type	Description
joint_num	uint8	Corresponding joint number, 1−6 from the base to the robotic arm's gripper.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub /rm_driver/set_joint_err_clear_cmd rm_ros_interfaces/msg/Jointerrclear "joint_num: 1 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_joint_err_clear_result

Parameter description:

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

Work frame setting

Change the current work frame

Parameter description:

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

ros2 topic pub /rm_driver/change_work_frame_cmd std_msgs/msg/String "data: 'Base'"

Return command demo:

ros2 topic echo /rm_driver/change_work_frame_result

Parameter description:

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

Frame getting

Get the current tool frame

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub --once /rm_driver/get_current_tool_frame_cmd std_msgs/msg/Empty "{}"

Return command demo: Name of the current tool frame.

ros2 topic echo /rm_driver/get_current_tool_frame_result

Get the names of all tool frames

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub /rm_driver/get_all_tool_frame_cmd std_msgs/msg/Empty "{}"

Return command demo: Names of all tool frames.

ros2 topic echo /rm_driver/get_all_tool_frame_result

Get the current work frame

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub --once /rm_driver/get_curr_workFrame_cmd std_msgs/msg/Empty "{}"

Return command demo:

ros2 topic echo /rm_driver/get_curr_workFrame_result

Parameter description:

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

Get the names of all work frames

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub --once /rm_driver/get_all_work_frame_cmd std_msgs/msg/Empty "{}"

Return command demo: Names of all work frames.

ros2 topic echo /rm_driver/get_all_work_frame_result

Robotic arm state getting

Get the current robotic arm state — return the angle and Euler angle of each joint

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub --once /rm_driver/get_current_arm_state_cmd std_msgs/msg/Empty "{}"

Return command demo: Current joint state (angle) + pose (Euler angle) + error message.

ros2 topic echo /rm_driver/get_current_arm_original_state_result

Get the current robotic arm state — return the radian and quaternion of each joint

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in msg.

Usage command demo:

ros2 topic pub --once /rm_driver/get_current_arm_state_cmd std_msgs/msg/Empty "{}"

Return command demo: Current joint state (radian) + pose (quaternion) + error message.

ros2 topic echo /rm_driver/get_current_arm_state_result

Robotic arm motion planning

Joint motion

Parameter description:

Parameter	Type	Description
joint	float32[6]	Joint angle, in rad.
speed	uint8	Speed percentage, 0−100.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo: 6-DoF robotic arm:

ros2 topic pub --once /rm_driver/movej_cmd rm_ros_interfaces/msg/Movej "joint: [0, 0, 0, 0, 0, 0] speed: 20 block: true dof: 6"

7-DoF robotic arm:

ros2 topic pub --once /rm_driver/movej_cmd rm_ros_interfaces/msg/Movej "joint: [0, 0, 0, 0, 0, 0, 0] speed: 20 block: true trajectory_connect: 0 dof: 7"

Return command demo:

ros2 topic echo /rm_driver/movej_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Cartesian-space linear motion Movel.msg

Parameter description:

Parameter	Type	Description
geometry_msgs/Pose	float	Robotic arm pose, including x, y, z coordinates (float type, in m) + quaternion.
speed	uint8	Speed percentage, 0−100.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo: Firstly, execute the MoveJ_P:

ros2 topic pub --once /rm_driver/movej_p_cmd rm_ros_interfaces/msg/Movejp "pose:position: x: -0.317239 y: 0.120903 z: 0.255765 orientation: x: -0.983404 y: -0.178432 z: 0.032271 w: 0.006129<br>speed:20 block: true"

Then, execute the MoveL:

ros2 topic pub --once /rm_driver/movel_cmd rm_ros_interfaces/msg/Movel "pose: position: x: -0.317239 y: 0.120903 z: 0.295765 orientation: x: -0.983404 y: -0.178432 z: 0.032271 w: 0.006129 speed: 20 trajectory_connect: 0 block: true"

Return command demo:

ros2 topic echo /rm_driver/movel_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Cartesian-space circular motion Movec.msg

Parameter	Type	Description
pose_mid	geometry_msgs/Pose	Middle pose of the robotic arm, including x, y, z coordinates (float type, in m) + quaternion.
pose_end	geometry_msgs/Pose	End pose of the robotic arm, including x, y, z coordinates (float type, in m) + quaternion.
speed	uint8	Speed percentage, 0−100.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo: Firstly, execute the MoveJ_P:

ros2 topic pub --once /rm_driver/movej_p_cmd rm_ros_interfaces/msg/Movejp "pose: position: x: 0.274946 y: -0.058786 z: 0.299028 orientation: x: 0.7071 y: -0.7071 z: 0.0 w: 0.0 speed: 0 block: true"

Then, execute the MoveC to reach the given position:

ros2 topic pub --once /rm_driver/movec_cmd rm_ros_interfaces/msg/Movec "pose_mid: position: x: 0.324946 y: -0.008786 z: 0.299028 orientation: x: 0.7071 y: -0.7071 z: 0.0 w: 0.0<br>pose_end: position: x: 0.274946 y: 0.041214 z: 0.299028 orientation: x: 0.7071 y: -0.7071 z: 0.0 w: 0.0 speed: 20 trajectory_connect: 0 block: false loop: 0

Return command demo:

ros2 topic echo /rm_driver/movec_result

Joint angle pass-through via CANFD JointPos.msg

Parameter	Type	Description
joint	float32[6]	Joint angle, in rad.
follow	bool	Follow state, true: high follow, false: low follow, default: high follow.
expand	float32	Expansion angle, in rad.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo: Pass-through requires continuously sending multiple consecutive points to achieve the functionality, rather than simply relying on the following command. Currently, the moveit2 uses an angle pass-through control.

ros2 topic pub /rm_driver/movej_canfd_cmd rm_ros_interfaces/msg/Jointpos "joint: [0, 0, 0, 0, 0, 0] follow: false expand: 0.0 dof: 6"

Return command demo: Succeeded: no return value; failed: return the error code from the driver terminal.

Pose pass-through via CANFD Jointpos.msg

Parameter	Type	Description
pose	geometry_msgs/Pose	Pass-through pose, including x, y, z coordinates (float type, in m) + quaternion.
follow	bool	Follow state, true: high follow, false: low follow, default: high follow.

Usage command demo: A large number of consecutive points (more than 10) are required and continuously published with a cycle of at least 2 ms. However, simply relying on the following command will not accomplish the task.

ros2 topic pub /rm_driver/movep_canfd_cmd rm_ros_interfaces/msg/Cartepos "pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 follow: false"

Return command demo: Succeeded: no return value; failed: return the error code from the driver terminal.

Joint space planning to target pose Movejp.msg

Parameter	Type	Description
pose	geometry_msgs/Pose	Target pose, including x, y, z coordinates (float type, in m) + quaternion.
speed	uint8	Speed percentage, 0−100.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/movej_p_cmd rm_ros_interfaces/msg/Movejp "pose: position: x: -0.317239 y: 0.120903 z: 0.255765 orientation: x: -0.983404 y: -0.178432 z: 0.032271 w: 0.006129 speed: 20 block: true"

Return command demo:

ros2 topic echo /rm_driver/movej_p_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Quick stop std_msgs

Parameter	Type	Description
data	bool	Quick/Non-quick stop, true: quick stop, false: non-quick stop.

Usage command demo:

ros2 topic pub /rm_driver/move_stop_cmd std_msgs/msg/Bool "data: true"

Return command demo:

ros2 topic echo /rm_driver/move_stop_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Controller configuration

Get the controller version Armsoftversion.msg

Parameter	Type	Description
planversion	string	Kernel version of the user interface.
ctrlversion	string	Real-time kernel version.
kernal1	string	Real-time version of kernel 1.
kernal2	string	Real-time version of kernel 2.
productversion	string	Model of the robotic arm.

Usage command demo:

ros2 topic pub /rm_driver/get_arm_software_version_cmd std_msgs/msg/Empty "{}"

Return command demo:

ros2 topic echo /rm_driver/get_arm_software_version_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

End effector IO configuration

Set the tool power output std_msgs

Parameter	Type	Description
data	uint16	Power output type, range: 0−3, 0: 0 V, 1: 5 V, 2: 12 V, 3: 24 V.

Usage command demo:

ros2 topic pub --once /rm_driver/set_tool_voltage_cmd std_msgs/msg/UInt16 "data: 0"

Return command demo:

ros2 topic echo /rm_driver/set_tool_voltage_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Gripper control

The RealMan robotic arm supports various common grippers. In the system, the INSPIRE-ROBOTS EG2-4C2 gripper is equipped. To facilitate user operation of the gripper, the robotic arm controller has adapted the gripper for ROS-based control.

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

Parameter	Type	Description
speed	uint16	1−1,000, representing the gripper opening and closing speed, without a unit of measurement.
force	uint16	1−1,000, representing the gripping force of the gripper, with a maximum of 1.5 kg.
block	uint16	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_gripper_pick_cmd rm_ros_interfaces/msg/Gripperpick "speed: 200 force: 200 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_gripper_pick_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

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

Parameter	Type	Description
speed	uint16	1−1,000, representing the gripper opening and closing speed, without a unit of measurement.
force	uint16	1−1,000, representing the gripping force of the gripper, with a maximum of 1.5 kg.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_gripper_pick_on_cmd rm_ros_interfaces/msg/Gripperpick "speed: 200 force: 200 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_gripper_pick_on_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the gripper to a given position Gripperset.msg

Parameter	Type	Description
position	uint16	Gripper target position, range: 1−1,000, representing the gripper opening: 0−70 mm.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_gripper_position_cmd rm_ros_interfaces/msg/Gripperset "position: 500 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_gripper_position_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Drag teaching and trajectory replay

Set the force-position hybrid control Setforceposition.msg

Parameter	Type	Description
sensor	uint8	0: 1-DoF force, 1: 6-DoF force uint8 mode: 0: force control in the base frame, 1: force control in the tool frame.
direction	uint8	Force control direction, 0: along the X-axis, 1: along the Y-axis, 2: along the Z-axis, 3: along the RX orientation, 4: along the RY orientation, 5: along the RZ orientation.
n	int16	Magnitude of the force, unit: N, accuracy: 0.1 N.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_force_postion_cmd rm_ros_interfaces/msg/Setforceposition "sensor: 1 mode: 0 direction: 2 n: 3 block: false"

Return command demo:

ros2 topic echo /rm_driver/set_force_postion_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Stop the force-position hybrid control std_msgs

Parameter	Type	Description
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub /rm_driver/stop_force_postion_cmd std_msgs/msg/Bool "data: true"

Return command demo:

ros2 topic echo /rm_driver/clear_force_data_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Use of the 6-DoF force sensor

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.

Clear the 6-DoF force data std_msgs

Parameter	Type	Description
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub /rm_driver/clear_force_data_cmd std_msgs/msg/Bool "data: true"

Return command demo:

ros2 topic echo /rm_driver/clear_force_data_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Control of the five-fingered dexterous hand

The RealMan RM65 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 hand Handposture.msg

Parameter	Type	Description
posture_num	uint16	Gesture sequence number pre-stored in the dexterous hand, range: 1−40.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_posture_cmd rm_ros_interfaces/msg/Handposture "posture_num: 1 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_hand_posture_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the action sequence number of the dexterous hand Handseq.msg

Parameter	Type	Description
seq_num	uint16	Action sequence number pre-stored in the dexterous hand, range: 1−40.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_seq_cmd rm_ros_interfaces/msg/Handseq "seq_num: 1 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_hand_seq_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the angles of the dexterous hand Handangle.msg

Parameter	Type	Description
hand_angle	int16[6]	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.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_angle_cmd rm_ros_interfaces/msg/Handangle "hand_angle: - 0 - 0 - 0 - 0 - 0 - 0 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_hand_angle_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the speed of the dexterous hand Handspeed.msg

Parameter	Type	Description
hand_speed	int16[6]	Finger speed, range: 1−1,000.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_speed_cmd rm_ros_interfaces/msg/Handspeed "hand_speed: 200 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_hand_speed_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the force threshold of the dexterous hand Handforce.msg

Parameter	Type	Description
hand_force	int16	Finger force, range: 1−1,000.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_force_cmd rm_ros_interfaces/msg/Handforce "hand_force: 200 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_hand_force_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Lifting mechanism

The RealMan robotic arm controller can integrate a self-developed lifting mechanism, and this interface is used for the control of the lifting mechanism.

Set the open-loop speed control of the lifting mechanism Liftspeed.msg

Parameter	Type	Description
speed	int16	Speed percentage, -100−100, speed<0: lifting mechanism moves down, speed>0: lifting mechanism moves up, speed=0: lifting mechanism stops moving.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub /rm_driver/set_lift_speed_cmd rm_ros_interfaces/msg/Liftspeed "speed: 100"

Return command demo:

ros2 topic echo /rm_driver/set_lift_speed_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Set the closed-loop position control of the lifting mechanism Liftheight.msg

Parameter	Type	Description
height	int16	Target height, unit: mm, range: 0−2,600.
speed	int16	Speed percentage, 1−100.
data	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.

Usage command demo:

ros2 topic pub --once /rm_driver/set_lift_height_cmd rm_ros_interfaces/msg/Liftheight "height: 0 speed: 10 block: true"

Return command demo:

ros2 topic echo /rm_driver/set_lift_height_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Get the state of the lifting mechanism Liftstate.msg

Parameter	Type	Description
height	int16	Target height, unit: mm, range: 0−2,600.
current	int16	Current current.
err_flag	uint16	Drive error code.

Usage command demo:

ros2 topic pub /rm_driver/get_lift_state_cmd std_msgs/msg/Empty "{}"

Return command demo: Return if succeeded: current state of the lifting mechanism; return if failed: error code from the driver terminal.

ros2 topic echo /rm_driver/get_lift_state_result

Pass-through force-position hybrid control compensation mode

For RealMan robotic arms in 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. If the force data calibration is not performed before the force operation, the zero position can be calibrated through the 6-DoF force data clearing interface.

Start the pass-through force-position hybrid control compensation mode std_msgs

Parameter	Type	Description
std_msgs	Empty	Start the pass-through force-position hybrid control compensation mode.

Usage command demo:

ros2 topic pub /rm_driver/start_force_position_move_cmd std_msgs/msg/Empty "{}"

Return command demo:

ros2 topic echo /rm_driver/start_force_position_move_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Stop the pass-through force-position hybrid control compensation mode std_msgs

Parameter	Type	Description
std_msgs	Empty	Stop the pass-through force-position hybrid control compensation mode.

Usage command demo:

ros2 topic pub /rm_driver/stop_force_position_move_cmd std_msgs/msg/Empty "{}"

Return command demo:

ros2 topic echo /rm_driver/stop_force_position_move_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Pass-through force-position hybrid control compensation — joint Forcepositionmovejoint.msg

Parameter	Type	Description
joint	float32[6]	Target joint radian.
sensor	uint8	Sensor type, 0: 1-DoF force, 1: 6-DoF force.
mode	uint8	Mode, 0: along the base frame, 1: along the end frame.
dir	int16	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	float32	Magnitude of the force, in N.
follow	bool	Follow state, true: high follow, false: low follow.
dof	uint8	Degree of freedom of the robotic arm.

Usage command demo: A large number of consecutive points (more than 10) are required and continuously published with a cycle of at least 2 ms.

ros2 topic pub /rm_driver/force_position_move_joint_cmd rm_ros_interfaces/msg/Forcepositionmovejoint " joint: [0, 0, 0, 0, 0, 0] sensor: 0 mode: 0 dir: 0 force: 0.0 follow: false dof: 6

Return command demo: Return if succeeded: NULL; return if failed: false and error code from the driver terminal.

Pass-through force-position hybrid control compensation — pose Forcepositionmovepose.msg

Parameter	Type	Description
pose	float	Target pose, including x, y, z coordinates (in m) + quaternion.
sensor	uint8	Sensor type, 0: 1-DoF force, 1: 6-DoF force.
mode	uint8	Mode, 0: along the base frame, 1: along the end frame.
dir	int16	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	float32	Magnitude of the force, in N.
follow	bool	Follow state, true: high follow, false: low follow.

Usage command demo: A large number of consecutive points (more than 10) are required and continuously published with a cycle of at least 2 ms.

ros2 topic pub /rm_driver/force_position_move_pose_cmd rm_ros_interfaces/msg/Forcepositionmovepose "pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 sensor: 0 mode: 0 dir: 0 force: 0 follow: false"

Return command demo: Return if succeeded: NULL; return if failed: false and error code from the driver terminal.

Robotic arm state active reporting

Set the UDP-based real-time robotic arm state pushing Setrealtimepush.msg

Parameter	Type	Description
cycle	uint16	Set the broadcast cycle, in 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 pushing target IP address (192.168.1.10 by default).
force	float32	Magnitude of the force, in N.
follow	bool	Follow state, true: high follow, false: low follow.

Usage command demo:

ros2 topic pub --once /rm_driver/set_realtime_push_cmd rm_ros_interfaces/msg/Setrealtimepush "cycle: 1<br>port: 8089 force_coordinate: 0 ip: '192.168.1.10'"

Return command demo:

ros2 topic echo /rm_driver/set_realtime_push_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: setting succeeded, false: setting failed. Return the error code from the driver terminal.

Get the UDP-based real-time robotic arm state pushing Getrealtimepush.msg

Parameter	Type	Description
cycle	uint16	Set the broadcast cycle, in 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 pushing target IP address (192.168.1.10 by default).

Usage command demo:

ros2 topic pub --once /rm_driver/get_realtime_push_cmd std_msgs/msg/Empty "{}"

Return command demo: Return if succeeded: settings; return if failed: error code from the driver terminal.

ros2 topic echo /rm_driver/get_realtime_push_result

UDP robotic arm state active reporting

6-DoF force Sixforce.msg

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 the rotation force along the X-axis.
force_my	float32	Magnitude of the rotation force along the Y-axis.
force_mz	float32	Magnitude of the rotation force along the Z-axis.

Usage command demo:

ros2 topic echo /rm_driver/udp_six_force

Robotic arm error std_msgs

Parameter	Type	Description
data	uint16	Robotic arm error.

Usage command demo:

ros2 topic echo /rm_driver/udp_six_force

System error std_msgs

Parameter	Type	Description
data	uint16	System error.

Usage command demo:

ros2 topic echo /rm_driver/udp_sys_err

Joint error Jointerrorcode.msg

Parameter	Type	Description
joint_error	uint16	Each joint error.
dof	uint8	Degree of freedom of the robotic arm.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_error_code

Robotic arm radian data sensor_msgs

Parameter	Type	Description
stamp	int32	sec: second.
nanosec	uint32	Time, in ns.
frame_id	string	Frame name.
name	string	Joint name.
position	float64	Joint radian.
velocity	float64	Joint velocity.
effort	float64	Joint force.

Usage command demo:

ros2 topic echo /joint_states

Pose geometry_msgs

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

Usage command demo:

ros2 topic echo /rm_driver/udp_arm_position

External force data of the current 6-DoF force sensor frame Sixforce.msg

Parameter	Type	Description
force_fx	float32	Magnitude of external force along the X-axis of the current sensor frame.
force_fy	float32	Magnitude of external force along the Y-axis of the current sensor frame.
force_fz	float32	Magnitude of external force along the Z-axis of the current sensor frame.
force_mx	float32	Magnitude of the rotation force along the X-axis of the current sensor frame.
force_my	float32	Magnitude of the rotation force along the Y-axis of the current sensor frame.
force_mz	float32	Magnitude of the rotation force along the Z-axis of the current sensor frame.

Usage command demo:

ros2 topic echo /rm_driver/udp_six_zero_force

Reference frame for external force data std_msgs

Parameter	Type	Description
data	uint16	Frame for external force data, 0: sensor frame, 1: current work frame, 2: current tool frame. This data will affect the reference frame for the external force data of the 6-DoF force sensor.

Usage command demo:

ros2 topic echo /rm_driver/udp_arm_coordinate