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 controller 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

Parameter	Type	Description	Handling Suggestions
0	int	Success.	-
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.	- Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.	Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.	- Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. - Call the ModbusTCP interface: Applicable only when reading from or writing to the ModbusTCP device of the controller. After creating the robot arm control handle, you must call the rm_set_modbustcp_mode() interface; otherwise, no return value will be received.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.	Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-4	int	The current in-position equipment verification fails, indicating the current in-position equipment is not the joints/elevators/grippers/dexterous hands.	- Detect Concurrent Control by Multiple Devices: Check if other devices are sending motion commands to the robot arm, including the motion of the robot arm, gripper, dexterous hand, and elevator. - Monitor Command Events in Real-Time: Register the callback function rm_get_arm_event_call_back: ① Capture device arrival events (such as motion completion, timeout, etc.). ② Determine the specific device type that triggered the event through the device parameter in the callback.
-5	int	The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper.	- Check Timeout Setting: In single-thread blocking mode, it supports configuring the timeout for waiting for the device to complete its motion. Ensure that the timeout is set longer than the device's motion time. - Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.

ROS_Function_Package_Robotic_Arm_Instructions

This section describes how to query and control the robotic arm through the topic of ROS.

Joint configuration

Clear the joint error code Jointerrclear.msg

Parameter description:

Parameter	Type	Description
joint_num	uint8	Corresponding joint number, the six degrees of freedom are numbered sequentially from 1 to 6, and the seven degrees of freedom are numbered sequentially from 1 to 7.

Usage command demo:

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

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.

Version Query

Get Joint Software Version

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in empty message type with no specific parameters.

Usage command demo:

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

Return command demo:

ros2 topic echo /rm_driver/get_joint_software_version_result

Parameter description:Jointversion.msg

Parameter	Type	Description
joint_version	string[7]	Array of obtained software version numbers for each joint, which need to be converted to hexadecimal (for example: 54536 converted to hexadecimal is D508, corresponding to version number Vd5.0.8 (third-generation controller)).
state	bool	Acquisition status, true: Acquisition successful, false: Acquisition failed.

Get End Tool Software Version

Parameter description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in empty message type with no specific parameters.

Usage Command demo:

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

Return command demo:

ros2 topic echo /rm_driver/get_tool_software_version_result

Parameter description:Toolsoftwareversionv4.msg

Parameter	Type	Description
tool_version	string	End tool software version number.
state	bool	Acquisition status, true: Acquisition successful, false: Acquisition 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 MoveJ.msg

Parameter description:

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

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 trajectory_connect: 0 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.
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.
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 speed:20 trajectory_connect: 0 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 Linear Offset Motion

Parameter description:Moveloffset.msg

Parameter	Type	Description
geometry_msgs/Pose	float	Position and attitude offset, position unit: meters, attitude unit: radians.
speed	int32	Speed percentage coefficient, 1~100.
r	int32	Blending radius percentage coefficient, 0~100.
trajectory_connect	bool	Trajectory connection flag, 0-Plan and execute the trajectory immediately, not connecting with subsequent trajectories; 1-Plan the current trajectory together with the next trajectory, but not execute immediately (in blocking mode, it will return immediately even if the sending is successful).
frame_type	bool	Reference coordinate system type, 0-Work coordinate, 1-Tool coordinate.
block	bool	Blocking setting. In multi-thread mode, 0-Non-blocking mode (return immediately after sending the command), 1-Blocking mode (return only after the robotic arm reaches the target position or planning fails); In single-thread mode, 0-Non-blocking mode (return immediately after sending the command), other values-Blocking mode and set timeout time (set according to the movement time, unit: seconds).

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
    }
  },
  speed: 20,
  trajectory_connect: 0,
  block: true
}"

Then, execute the MoveL_offset:

ros2 topic pub --once /rm_driver/movel_offset_cmd rm_ros_interfaces/msg/Moveloffset "{
  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,
  r: 0,
  trajectory_connect: false,
  frame_type: false,
  block: false
}"

Return command demo:

ros2 topic echo /rm_driver/movel_offset_result

Parameter description:

Parameter	Type	Description
std_msgs	bool	true: motion successful, false: motion 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.
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.
block	bool	Blocking/Non-blocking mode, true: blocking mode, false: non-blocking mode.
loop	uint16	Number of rotations.

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 trajectory_connect: 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 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.
dof	uint8	The degrees of freedom of the robotic arm.

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.

Customize high following mode joint angle CANFD transmission

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.
trajectory_mode	uint8	When the high following mode is set, multiple modes are supported, including 0- complete transparent transmission mode, 1- curve fitting mode and 2- filtering mode.
radio	uint8	Set the smoothing coefficient in curve fitting mode (range 0-100) or the filter parameter in filtering mode (range 0-1000). The higher the value, the better the smoothing effect.
dof	uint8	The degrees of freedom of the robotic arm.

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_custom_cmd rm_ros_interfaces/msg/Jointposcustom "joint: [0, 0, 0, 0, 0, 0] follow: false expand: 0.0 trajectory_mode: 0 radio: 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.

Customize high following mode pose CANFD transmission

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.
trajectory_mode	uint8	When the high following mode is set, multiple modes are supported, including 0- complete transparent transmission mode, 1- curve fitting mode and 2- filtering mode.
radio	uint8	Set the smoothing coefficient in curve fitting mode (range 0-100) or the filter parameter in filtering mode (range 0-1000). The higher the value, the better the smoothing effect.

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_custom_cmd rm_ros_interfaces/msg/Carteposcustom "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 trajectory_mode: 0 radio: 0"

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
std_msgs	String	ROS built-in msg.

Usage command demo:

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

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.

Emergency stop

Parameter description:Stop.msg

Parameter	Type	Description
stop	bool	Emergency stop state setting, true: Emergency stop, false: Resume.

Usage command demo:

ros2 topic pub --once /rm_driver/emergency_stop_cmd rm_ros_interfaces/Stop "state: true"

Return command demo:

ros2 topic echo /rm_driver/emergency_stop_result

Parameter description:

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

Teaching instructions

Joint teaching

Parameter	Type	Description
num	uint8	Joint num，1~7.
direction	uint8	Teach direction，0-negative direction，1-positive direction.
speed	uint8	Speed percentage ratio coefficient, 0-100.

Usage command demo:

ros2 topic pub /rm_driver/set_joint_teach_cmd rm_ros_interfaces/msg/Jointteach "num: 1 direction: 0 speed: 10"

Return command demo:

ros2 topic echo /rm_driver/set_joint_teach_result

Parameter description:

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

Position teaching

Parameter	Type	Description
type	uint8	Coordinate axis: 0:X-axis direction, 1:Y-axis direction, 2:Z-axis direction.
direction	uint8	Teach direction，0-negative direction，1-positive direction.
speed	uint8	Speed percentage ratio coefficient, 0-100.

Usage command demo:

ros2 topic pub /rm_driver/set_pos_teach_cmd rm_ros_interfaces/msg/Posteach "type: 2 direction: 0 speed: 10"

Return command demo:

ros2 topic echo /rm_driver/set_pos_teach_result

Parameter description:

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

Attitude teaching

Parameter	Type	Description
type	uint8	Rotation axis: 0:RX-axis direction, 1:RY-axis direction, 2:RZ-axis direction.
direction	uint8	Teach direction，0-negative direction，1-positive direction.
speed	uint8	Speed percentage ratio coefficient, 0-100.

Usage command demo:

ros2 topic pub /rm_driver/set_ort_teach_cmd rm_ros_interfaces/msg/Ortteach "type: 2 direction: 0 speed: 10"

Return command demo:

ros2 topic echo /rm_driver/set_ort_teach_result

Parameter description:

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

Stop teaching

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

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

Return command demo:

ros2 topic echo /rm_driver/set_stop_teach_result

Parameter description:

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

Trajectory List

Get Trajectory List

Parameter description:Gettrajectorylist.msg

Parameter	Type	Description
page_num	int32	Page number.
page_size	int32	Number of items per page.
vague_search	string	Keyword for fuzzy search.

Usage command demo:

ros2 topic pub --once /rm_driver/get_trajectory_file_list_cmd rm_ros_interfaces/msg/Gettrajectorylist "{
  page_num: 1,
  page_size: 10,
  vague_search: 's'
}"

Return command demo:

ros2 topic echo /rm_driver/get_trajectory_file_list_result

Parameter description:Trajectorylist.msg

Parameter	Type	Description
page_num	int32	Page number.
page_size	int32	Number of items per page.
total_size	int32	Length of the list.
vague_search	string	Keyword for fuzzy search.
tra_list	Trajectoryinfo[]	Returned trajectory list that matches the criteria.
state	bool	Query status, true: successful, false: failed.

Start Running Specified Trajectory

Parameter Description:

Parameter	Type	Description
std_msgs	String	ROS built-in message.

Usage Command Demo:

ros2 topic pub --once /rm_driver/set_run_trajectory_cmd std_msgs/msg/String "data: 'sss'"

Return Command Demo:

ros2 topic echo /rm_driver/set_run_trajectory_result

Delete Specified Trajectory File

Parameter Description:

Parameter	Type	Description
std_msgs	String	ROS built-in message.

Usage Command Demo:

ros2 topic pub --once /rm_driver/delete_trajectory_file_cmd std_msgs/msg/String "data: 'sss'"

Return Command Demo:

ros2 topic echo /rm_driver/delete_trajectory_file_result

Save Trajectory File

Parameter Description:

Parameter	Type	Description
std_msgs	String	ROS built-in message.

Usage Command Demo:

ros2 topic pub --once /rm_driver/save_trajectory_file_cmd std_msgs/msg/String "data: 'test'"

Return Command Demo:

ros2 topic echo /rm_driver/save_trajectory_file_result

Get Flowchart Programming Status

Parameter Description:

Parameter	Type	Description
std_msgs	String	ROS built-in message.

Usage Command Demo:

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

Return Command Demo:

ros2 topic echo /rm_driver/get_flowchart_program_run_state_result

Parameter Description:Flowchartrunstate.msg

Parameter	Type	Description
run_state	int	Running state, 0 - Not started, 1 - Running, 2 - Paused.
id	int	ID of the currently enabled file.
name[32]	char	Name of the currently enabled file (32-character length).
plan_speed	int	Global planning speed ratio of the currently enabled file, 1-100.
step_mode	int	Single-step mode, 0 - Empty, 1 - Normal, 2 - Single step.
modal_id[50]	char	ID of the flowchart block being executed (50-character length).
state	bool	Running state flag, true: Returned when running normally, false: Returned when not running normally.

Modbus Mode Query and Configuration

Set Controller RS485 Mode

Parameter Description:RS485params.msg

Parameter	Type	Description
mode	int32	Communication mode, 0-RS485 serial communication, 1-modbus-RTU master mode, 2-modbus-RTU slave mode.
baudrate	int32	Baud rate, currently supports 9600, 19200, 38400, 57600, 115200, 230400, 460800.

Usage Command Demo:

ros2 topic pub --once /rm_driver/set_controller_rs485_mode_cmd rm_ros_interfaces/msg/RS485params "{
  mode: 0,
  baudrate: 115200
}"

Return Command Demo:

ros2 topic echo /rm_driver/set_controller_rs485_mode_result

Get Controller RS485 Mode

Parameter Description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in message.

Usage Command Demo:

ros2 topic pub --once /rm_driver/get_controller_rs485_mode_cmd std_msgs/msg/Empty "{}"

Return Command Demo:

ros2 topic echo /rm_driver/get_controller_rs485_mode_result

Parameter Description:RS485params.msg

Parameter	Type	Description
mode	int32	Communication mode, 0 - Default RS485 serial communication, 1-modbus-RTU master mode, 2-modbus-RTU slave mode.
baudrate	int32	Baud rate (currently supports 9600, 19200, 38400, 57600, 115200, 230400, 460800).
state	bool	Query status, true - Query successful, false - Query failed.

Set Tool RS485 Mode

Parameter Description:RS485params.msg

Parameter	Type	Description
mode	int32	Tool-side RS485 mode, 0 - Set as RTU master, 1 - Dexterous hand mode, 2 - Gripper mode.
baudrate	int32	Baud rate, currently supports 9600, 115200, 460800.

Usage Command Demo:

ros2 topic pub --once /rm_driver/set_tool_rs485_mode_cmd rm_ros_interfaces/msg/RS485params "{
  mode: 0,
  baudrate: 115200
}"

Return Command Demo:

ros2 topic echo /rm_driver/set_tool_rs485_mode_result

Get Tool RS485 Mode

Parameter Description:

Parameter	Type	Description
std_msgs	Empty	ROS built-in message.

Usage Command Demo:

ros2 topic pub --once /rm_driver/get_tool_rs485_mode_cmd std_msgs/msg/Empty "{}"

Return Command Demo:

ros2 topic echo /rm_driver/get_tool_rs485_mode_result

Parameter Description:RS485params.msg

Parameter	Type	Description
mode	int32	Tool-side RS485 mode, 0 - Set as RTU master, 1 - Dexterous hand mode, 2 - Gripper mode.
baudrate	int32	Baud rate (currently supports 9600, 19200, 38400, 57600, 115200, 230400, 460800).
state	bool	Query status, true: Query successful, false: Query failed.

Add ModbusTCP Master

Parameter Description:Modbustcpmasterinfo.msg

Parameter	Type	Description
master_name	string	Name of the Modbus master.
ip	string	IP address of the TCP master.
port	int32	Port number of the TCP master.

Usage Command Demo:

ros2 topic pub --once /rm_driver/add_modbus_tcp_master_cmd rm_ros_interfaces/msg/Modbustcpmasterinfo "{
  master_name: '1',
  ip: '127.0.0.1',
  port: 502
}"

Return Command Demo:

ros2 topic echo /rm_driver/add_modbus_tcp_master_result

Update ModbusTCP Master

Parameter Description:Modbustcpmasterinfo.msg

Parameter	Type	Description
master_name	string	Original name of the Modbus master.
new_master_name	string	New name of the Modbus master.
ip	string	IP address of the TCP master.
port	int32	Port number of the TCP master.

Usage Command Demo:

ros2 topic pub /rm_driver/update_modbus_tcp_master_cmd rm_ros_interfaces/msg/Modbustcpmasterinfo "{
  master_name: '1',
  new_master_name: '125',
  ip: '127.0.0.1',
  port: 502
}"

Return Command Demo:

ros2 topic echo /rm_driver/update_modbus_tcp_master_result

Delete ModbusTCP Master

Parameter Description:Mastername.msg

Parameter	Type	Description
master_name	string	Name of the Modbus master (transmitted via Mastername.msg).

Usage Command Demo:

ros2 topic pub --once /rm_driver/delete_modbus_tcp_master_cmd rm_ros_interfaces/msg/Mastername "
master_name: '321'
"

Return Command Demo:

ros2 topic echo /rm_driver/delete_modbus_tcp_master_result

Get Specified Modbus Master

Parameter Description:Mastername.msg

Parameter	Type	Description
master_name	string	Name of the Modbus master.

Usage Command Demo:

ros2 topic pub --once /rm_driver/get_modbus_tcp_master_cmd rm_ros_interfaces/msg/Mastername "master_name: '321'"

Return Command Demo:

ros2 topic echo /rm_driver/get_modbus_tcp_master_result

Parameter Description:Modbustcpmasterinfo.msg

Parameter	Type	Description
master_name	string	Name of the Modbus master, maximum length of 15 characters, not exceeding 15 characters.
ip	string	IP address of the TCP master.
port	int32	Port number of the TCP master.
state	bool	Query status information, true: Query successful, false: Query failed. The driver terminal returns an error code when failed.

Get Modbus Master List

Parameter Description:Getmodbustcpmasterlist.msg

Parameter	Type	Description
page_num	int32	Page number.
page_size	int32	Page size.
vague_search	string	Vague search keyword. Returns all master lists if input is empty.

Usage Command Demo:

ros2 topic pub --once /rm_driver/get_modbus_tcp_master_list_cmd rm_ros_interfaces/msg/Getmodbustcpmasterlist "{
  page_num: 1,
  page_size: 10,
  vague_search: '1'
}"

Return Command Demo:

ros2 topic echo /rm_driver/get_modbus_tcp_master_list_result

Parameter Description:Modbustcpmasterlist.msg

Parameter	Type	Description
page_num	uint8	Page number.
page_size	uint8	Page size.
total_size	uint8	Length of the list.
vague_search	string	Vague search keyword.
master_list	Modbustcpmasterinfo[]	Returns the list of TCP masters that meet the criteria.
state	bool	Query status, true: Query successful, false: Query failed. The driver terminal returns an error code when failed.

Read ModbusRTU Coils

Parameter Description:Modbusrtureadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to read, with data length not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_rtu_coils_cmd rm_ros_interfaces/msg/Modbusrtureadparams "{
  address: 0,
  device: 1,
  type: 0,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_rtu_coils_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Write ModbusRTU Coils

Parameter Description:Modbusrtuwriteparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to write, maximum not exceeding 100.
data	int32[]	Data to be written, with data length corresponding to num.

Usage Command Demo:

ros2 topic pub /rm_driver/write_modbus_rtu_coils_cmd rm_ros_interfaces/msg/Modbusrtuwriteparams "{
  address: 0,
  device: 1,
  type: 0,
  num: 2,
  data: [1, 1]
}"

Return Command Demo:

ros2 topic echo /rm_driver/write_modbus_rtu_coils_result

Read ModbusRTU Input Status

Parameter Description:Modbusrtureadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to read, with data length not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_rtu_input_status_cmd rm_ros_interfaces/msg/Modbusrtureadparams "{
  address: 0,
  device: 0,
  type: 0,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_rtu_input_status_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Read ModbusRTU Holding Registers

Parameter Description:Modbusrtureadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to read, with data length not exceeding 100.

Usage Command demo:

ros2 topic pub /rm_driver/read_modbus_rtu_holding_registers_cmd rm_ros_interfaces/msg/Modbusrtureadparams "{
  address: 0,
  device: 0,
  type: 0,
  num: 1
}"

Return command demo:

ros2 topic echo /rm_driver/read_modbus_rtu_holding_registers_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Write ModbusRTU Registers

Parameter Description:Modbusrtuwriteparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to write, maximum not exceeding 100.
data	int32[]	Data to be written, with data length corresponding to num.

Usage Command Demo:

ros2 topic pub /rm_driver/write_modbus_rtu_registers_cmd rm_ros_interfaces/msg/Modbusrtuwriteparams "{
  address: 0,
  device: 0,
  type: 0,
  num: 2,
  data: [1, 1]
}"

Return Command Demo:

ros2 topic echo /rm_driver/write_modbus_rtu_registers_result

Read ModbusRTU Input Registers

Parameter Description:Modbusrtureadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
device	int32	Peripheral device address.
type	int32	Host type, 0 - Controller-side Modbus host; 1 - Tool-side Modbus host.
num	int32	Number of data to read, with data length not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_rtu_input_registers_cmd rm_ros_interfaces/msg/Modbusrtureadparams "{
  address: 0,
  device: 0,
  type: 0,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_rtu_input_registers_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Read ModbusTCP Coils

Parameter Description:Modbustcpreadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to read, maximum not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_tcp_coils_cmd rm_ros_interfaces/msg/Modbustcpreadparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_tcp_coils_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Write ModbusTCP Coils

Parameter Description:Modbustcpwriteparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to write, maximum not exceeding 100.
data	int32[]	Data to be written, with data length corresponding to num.

Usage Command Demo:

ros2 topic pub /rm_driver/write_modbus_tcp_coils_cmd rm_ros_interfaces/msg/Modbustcpwriteparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 2,
  data: [1, 1]
}"

Return Command Demo:

ros2 topic echo /rm_driver/write_modbus_tcp_coils_result

Read ModbusTCP Input Status

Parameter Description: Modbustcpreadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to read, maximum not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_tcp_input_status_cmd rm_ros_interfaces/msg/Modbustcpreadparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_tcp_input_status_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Read ModbusTCP Holding Registers

Parameter Description:Modbustcpreadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to read, maximum not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_tcp_holding_registers_cmd rm_ros_interfaces/msg/Modbustcpreadparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_tcp_holding_registers_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

Write ModbusTCP Holding Registers Modbustcpwriteparams.msg

Parameter Description:

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to write, maximum not exceeding 100.
data	int32[]	Data to be written, with data length corresponding to num.

Usage Command Demo:

ros2 topic pub /rm_driver/write_modbus_tcp_registers_cmd rm_ros_interfaces/msg/Modbustcpwriteparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 2,
  data: [1, 1]
}"

Return Command Demo:

ros2 topic echo /rm_driver/write_modbus_tcp_registers_result

Read ModbusTCP Input Registers

Parameter Description:Modbustcpreadparams.msg

Parameter	Type	Description
address	int32	Starting address of data.
master_name	string	Modbus master name, maximum length of 15 characters.
ip	string	IP address connected to the host.
port	int32	Port number connected to the host.
num	int32	Number of data to read, maximum not exceeding 100.

Usage Command Demo:

ros2 topic pub /rm_driver/read_modbus_tcp_input_registers_cmd rm_ros_interfaces/msg/Modbustcpreadparams "{
  address: 0,
  master_name: '3',
  ip: '127.0.0.6',
  port: 502,
  num: 1
}"

Return Command Demo:

ros2 topic echo /rm_driver/read_modbus_tcp_input_registers_result

Parameter Description:Modbusreaddata.msg

Parameter	Type	Description
read_data	int32[]	Read Modbus data.
state	bool	Feedback query status information, true: Read successful, false: Read failed. The driver terminal returns an error code when failed.

End effector IO configuration

Set the tool power output std_msgs

Parameter	Type	Description
data	uint16	Power output type, 0: 0 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.
timeout	uint16	The timeout setting for blocking mode, unit: seconds.

Usage command demo:

ros2 topic pub --once /rm_driver/set_gripper_pick_cmd rm_ros_interfaces/msg/Gripperpick "speed: 200 force: 200 block: true timeout: 10"

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.
timeout	uint16	The timeout setting for blocking mode, unit: seconds.

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 timeout: 10"

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.
timeout	uint16	The timeout setting for blocking mode, unit: seconds.

Usage command demo:

ros2 topic pub --once /rm_driver/set_gripper_position_cmd rm_ros_interfaces/msg/Gripperset "position: 500 block: true timeout: 10"

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 forc.
mode	uint8	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.

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"

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
std_msgs	String	ROS built-in msg.

Usage command demo:

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

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.

Query the 6-DoF force data

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

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

Return command demo:

Successfully returned 6-DoF force data in the corresponding coordinate system.

• Raw data:

  ros2 topic echo /rm_driver/get_force_data_result

• System external force data:

  ros2 topic echo /rm_driver/get_zero_force_data_result

• Work coordinate system force data:

  ros2 topic echo /rm_driver/get_work_force_data_result

• Tool coordinate system force data:

  ros2 topic echo /rm_driver/get_tool_force_data_result

Clear the 6-DoF force data std_msgs

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

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

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.

Setting the angle following of the dexterous hand

Parameter	Type	Description
hand_angle	int16[6]	Hand angle array, the range is 0 to 2000, and -1 represents that no operation is performed on this degree of freedom and the current state remains.
block	bool	whether it is a blocking mode, bool type, true: blocking, false: non-blocking.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_follow_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_follow_angle_result

Parameter description:

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

Setting the posture following of the dexterous hand

Parameter	Type	Description
hand_angle	int16[6]	Hand posture array, the range is 0 to 1000, and -1 represents that no operation is performed on this degree of freedom and the current state remains.
block	bool	whether it is a blocking mode, bool type, true: blocking, false: non-blocking.

Usage command demo:

ros2 topic pub --once /rm_driver/set_hand_follow_pos_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_follow_pos_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 to 100: 1. speed<0: Lifting mechanism moves down; 2. speed>0: Lifting mechanism moves up; 3. speed=0: Lifting mechanism stops moving.
block	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 block: true"

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.
speed	int16	Speed percentage, 1−100.
block	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

End Effector Ecosystem Command Set

Reading of basic and real-time information of end-effector devices supported by the end-effector ecosystem protocol.

Setting End Effector Ecosystem Protocol Mode

Parameter	Type	Description
data	int32	0 - Disable protocol; 9600 - Enable protocol (baud rate 9600); 115200 - Enable protocol (baud rate 115200); 256000 - Enable protocol (baud rate 256000); 460800 - Enable protocol (baud rate 460800).

Usage command demo:

ros2 topic pub /rm_driver/set_rm_plus_mode_cmd std_msgs/msg/Int32 "data: 0"

Return command demo:

ros2 topic echo /rm_driver/set_rm_plus_mode_result

Parameter description:

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

Querying End Effector Ecosystem Protocol Mode

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

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

Return command demo:

ros2 topic echo /rm_driver/get_rm_plus_mode_result

Parameter description:

Parameter	Type	Description
std_msgs	int32	0 - Disable protocol; 9600 - Enable protocol (baud rate 9600); 115200 - Enable protocol (baud rate 115200); 256000 - Enable protocol (baud rate 256000); 460800 - Enable protocol (baud rate 460800).

Setting Tactile Sensor Mode

Parameter	Type	Description
data	int32	0 - Disable tactile sensor; 1 - Enable tactile sensor (returns processed data); 2 - Enable tactile sensor (returns raw data).

Usage command demo:

ros2 topic pub /rm_driver/set_rm_plus_touch_cmd std_msgs::msg::Int32 "data: 0"

Return command demo:

ros2 topic echo /rm_driver/set_rm_plus_touch_result

Parameter description:

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

Querying Tactile Sensor Mode

Parameter	Type	Description
std_msgs	String	ROS built-in msg.

Usage command demo:

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

Return command demo:

ros2 topic echo /rm_driver/get_rm_plus_touch_result

Parameter description:

Parameter	Type	Description
std_msgs	int32	0 - Disable tactile sensor; 1 - Enable tactile sensor (returns processed data); 2 - Enable tactile sensor (returns raw data).

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).
hand_enable	bool	Whether dexterous hand status reporting is enabled, true is enabled, and false is not enabled.
aloha_state_enable	bool	Whether to enable aloha main arm status reporting, true to enable, false not to enable.
arm_current_status_enable	bool	Whether to enable the status report of the robot arm, true to enable, false not to enable.
expand_state_enable	bool	Whether to enable the report of extended joint related data, true is enabled, false is not enabled.
joint_speed_enable	bool	Whether joint speed reporting is enabled, true is enabled, and false is not enabled.
lift_state_enable	bool	Whether lifting joint data reporting is enabled, true is enabled, and false is not enabled.
plus_base_enable	bool	Basic information of the end-effector device，true is enabled, and false is not enabled.
plus_state_enable	bool	Real-time information of the end-effector device，true is enabled, and false is not enabled.

Usage command demo:

ros2 topic pub --once /rm_driver/set_realtime_push_cmd rm_ros_interfaces/msg/Setrealtimepush "cycle: 1 port: 8089 force_coordinate: 0 ip: '192.168.1.10' hand_enable: false aloha_state_enable: false arm_current_status_enable: false expand_state_enable: false joint_speed_enable: false lift_state_enable: false"

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
std_msgs	String	ROS built-in msg.

Usage command demo:

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

Return command demo:

ros2 topic echo /rm_driver/get_realtime_push_result

Parameter description:

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).
hand_enable	bool	Whether dexterous hand status reporting is enabled, true is enabled, and false is not enabled.
aloha_state_enable	bool	Whether to enable aloha main arm status reporting, true to enable, false not to enable.
arm_current_status_enable	bool	Whether to enable the status report of the robot arm, true to enable, false not to enable.
expand_state_enable	bool	Whether to enable the report of extended joint related data, true is enabled, false is not enabled.
joint_speed_enable	bool	Whether joint speed reporting is enabled, true is enabled, and false is not enabled.
lift_state_enable	bool	Whether lifting joint data reporting is enabled, true is enabled, and false is not enabled.
plus_base_enable	bool	Basic information of the end-effector device，true is enabled, and false is not enabled.
plus_state_enable	bool	Real-time information of the end-effector device，true is enabled, and false is not enabled.

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

One-axis force Oneforce.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. (only this value is valid)
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_one_force

Robotic arm error std_msgs

Parameter	Type	Description
data	uint16	Robotic arm error.

Usage command demo:

ros2 topic echo /rm_driver/udp_arm_err

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
sec	int32	Time, in 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 6-DoF force sensor system 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

External force data of the one-axis force sensor system Oneforce.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. (only this data is valid)
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_one_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 one-axis force and 6-DoF force sensor systems.

Usage command demo:

ros2 topic echo /rm_driver/udp_arm_coordinate

The current state of dexterous dexterity Handstatus.msg

Parameter	Type	Description
hand_angle	uint16[6]	Finger angle array，range：0~2000.
hand_pos	uint16[6]	Finger position array，range：0~1000.
hand_state	uint16[6]	Finger state,0 is releasing, 1 is grasping, 2 positions are in place and stop, 3 forces are in place and stop, 5 current protection stops, 6 electric cylinder stalling stops, 7 electric cylinder failure stops.
hand_force	uint16[6]	Dexterous hand degree of freedom current，unit mN.
hand_err	uint16	Agile Hand System Error，1 indicates an error, 0 indicates no error.

Usage command demo:

ros2 topic echo /rm_driver/udp_hand_status

current status of the mechanical arm Armcurrentstatus.msg

Parameter	Type	Description
arm_current_status	uint16	Mechanical arm status: 0-RM_IDLE_E // enabled but idle status 1-RM_MOVE_L_E // Move L moving state 2-RM_MOVE_J_E // move J moving state 3-RM_MOVE_C_E // move C moving state 4-RM_MOVE_S_E // move S moving state 5-RM _ move _ /angle transmission state 6-RM_MOVE_THROUGH_POSE_E // posture transmission state 7-RM _ move _ through _ force _ pose _ e//force control transmission state 8-RM _ move _ through _ current _ e// Current loop transparent state 9-RM_STOP_E // emergency stop state 10-RM_SLOW_STOP_E // slow stop state 11-RM_PAUSE_E // Pause state 12-RM_CURRENT_DRAG_E // Current loop drag state 13-RM_SENSOR_DRAG_E // Six-axis force drag state 14-RM _ tech _ demonstration _ e//Teaching state

Usage command demo:

ros2 topic echo /rm_driver/udp_arm_current_status

Current joint current Jointcurrent.msg

Parameter	Type	Description
joint_current	float32	Current joint current with accuracy of 0.001mA.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_current

The current joint enabling state Jointenflag.msg

Parameter	Type	Description
joint_en_flag	bool	The current joint enabling state, where 1 is the upper enabling state and 0 is the lower enabling state.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_en_flag

Euler angle posture of mechanical arm Jointposeeuler.msg

Parameter	Type	Description
Euler	float32[3]	Euler angle of current waypoint attitude with accuracy of 0.001rad.
position	float32[3]	Current waypoint position with accuracy of 0.000001M.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_en_flag

Current joint speed Jointspeed.msg

Parameter	Type	Description
joint_speed	float32	Current joint speed with an accuracy of 0.02RPM.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_speed

Current joint temperature Jointtemperature.msg

Parameter	Type	Description
joint_temperature	float32	current joint temperature with accuracy of 0.001℃.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_temperature

Current joint voltage Jointvoltage.msg

Parameter	Type	Description
joint_voltage	float32	current joint voltage with accuracy of 0.001V.

Usage command demo:

ros2 topic echo /rm_driver/udp_joint_voltage

Reading Basic Information of End-Effector Device Rmplusbase.msg

Parameter	Type	Description
manu	string	Device manufacturer.
type	int8	Device type, including 1 - Two-finger gripper, 2 - Five-finger dexterous hand, 3 - Three-finger gripper.
hv	string	Hardware version.
sv	string	Software version.
bv	string	Bootloader version.
id	int32	Device ID.
dof	int8	Degrees of freedom.
check	int8	Self-check switch.
bee	int8	Beeper switch.
force	bool	Force control support.
touch	bool	Tactile support.
touch_num	int8	Number of tactile sensors.
touch_sw	int8	Tactile switch.
hand	int8	Hand orientation, including 1 - Left hand, 2 - Right hand.
pos_up	int32[12]	Position upper limit.
pos_low	int32[12]	Position lower limit.
angle_up	int32[12]	Angle upper limit.
angle_low	int32[12]	Angle lower limit.
speed_up	int32[12]	Speed upper limit.
speed_low	int32[12]	Speed lower limit.
force_up	int32[12]	Force upper limit.
force_low	int32[12]	Force lower limit.

Usage command demo:

ros2 topic echo /rm_driver/udp_rm_plus_base

Reading Real-Time Information of End-Effector Device Rmplusstate.msg

Parameter	Type	Description
sys_state	int32	System status.
dof_state	int32[12]	Current status of each degree of freedom (DoF).
dof_err	int32[12]	Error information of each DoF.
pos	int32[12]	Current position of each DoF.
speed	int32[12]	Current speed of each DoF.
angle	int32[12]	Current angles of each DoF.
current	int32[12]	Current of each DoF.
normal_force	int32[18]	Normal force of the tactile three-dimensional force of each DoF.
tangential_force	int32[18]	Tangential force of the tactile three-dimensional force of each DoF.
tangential_force_dir	int32[18]	Direction of the tangential force of the tactile three-dimensional force of each DoF.
tsa	int32[12]	Tactile self-approach of each DoF.
tma	int32[12]	Tactile mutual approach of each DoF.
touch_data	int32[18]	Raw data from the tactile sensor.
force	int32[12]	Torque of each DoF.

Usage command demo:

ros2 topic echo /rm_driver/udp_rm_plus_state