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xarm_api services description

Services

  The services of xarm_api is the interface encapsulation of C++ SDK, which may be a single interface call or multiple interface calls.   Note: The service path prefix (xarm/) used by rosservice is related to the startup parameters. The default xarm series is xarm/, and the Lite series is ufactory/. The following example uses xarm/, the actual use is modified according to the actual situation.

C++ SDK DOCS

  • Init

    • motion_ctrl
      • SDK API
        • motion_enable
      • rosservice 
        # id: 1~7 means joint1~joint7, 8 means all joints
# enable: 1 means enable, 0 means disable
rosservice call /xarm/motion_ctrl ${enable} ${id}
    • set_mode
      • SDK API:
        • set_mode
      • rosservice: 
        # mode: 
#   0: position mode
#   1: servo motion mode
#   2: joint teaching mode
#   4: joint velocity mode
#   5: cartesian velocity mode
#   6: joint online trajectory planning mode
#   7: cartesian online trajectory planning mode
rosservice call /xarm/set_mode ${mode}
    • set_state
      • SDK API:
        • set_state
      • rosservice: 
        # state:
#   0: motion state
#   3: pause state
#   4: stop state
rosservice call /xarm/set_state ${state}
    • clear_err
      • SDK API:
        • (if gripper added) clean_gripper_error
        • clean_error
        • clean_warn
        • motion_enable
      • rosservice: 
        rosservice call /xarm/clear_err
    • moveit_clear_err
      • SDK API:
        • (if gripper added) clean_gripper_error
        • clean_error
        • clean_warn
        • motion_enable
        • set_mode
        • set_state
      • rosservice: 
        rosservice call /xarm/moveit_clear_err

  • Motion

    • go_home
      • SDK API:
        • move_gohome
      • rosservice: 
        # mvvelo: speed (rad/s)
# mvacc: acceleration (rad/s^2)
rosservice call /xarm/go_home [] ${mvvelo} ${mvacc} 0 0
    • move_joint
      • SDK API:
        • set_servo_angle
      • rosservice: 
        # angles: [joint1-rad, ..., joint${dof}-rad]
# mvvelo: speed (rad/s)
# mvacc: acceleration (rad/s^2)
rosservice call /xarm/move_joint ${angles} ${mvvelo} ${mvacc} 0 0
    • move_jointb
      • SDK API:
        • set_servo_angle
      • rosservice: 
        # angles: [joint1-rad, ..., joint${dof}-rad]
# mvvelo: speed (rad/s)
# mvacc: acceleration (rad/s^2)
# radius: the blending radius between 2 straight path trajectories, 0 for no blend.
rosservice call /xarm/move_jointb ${angles} ${mvvelo} ${mvacc} 0 ${radius}
    • move_line
      • SDK API:
        • set_position
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
rosservice call /xarm/move_line ${pose} ${mvvelo} ${mvacc} 0 0
    • move_lineb
      • SDK API:
        • set_position
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
# radius: the blending radius between 2 straight path trajectories, 0 for no blend.
rosservice call /xarm/move_lineb ${pose} ${mvvelo} ${mvacc} 0 ${radius}
    • move_line_tool
      • SDK API:
        • set_tool_position
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
rosservice call /xarm/move_line_tool ${pose} ${mvvelo} ${mvacc} 0 0
    • move_servoj
      • SDK API:
        • set_servo_angle_j
      • rosservice: 
        # angles: [joint1-rad, ..., joint${dof}-rad]
# mvvelo: speed (rad/s)
# mvacc: acceleration (rad/s^2)
rosservice call /xarm/move_servoj ${angles} ${mvvelo} ${mvacc} 0 0
    • move_servo_cart
      • SDK API:
        • set_servo_cartesian
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
# coord: motion coordinate system indicator, base (0) or tool(1) coordinate
rosservice call /xarm/move_servo_cart ${pose} ${mvvelo} ${mvacc} ${coord} 0
    • move_line_aa
      • SDK API:
        • set_position_aa
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
# coord: motion coordinate system indicator, base (0) or tool(1) coordinate
# relative: indicator of given target is relative (1) or not (0, absolute)
rosservice call /xarm/move_line_aa ${pose} ${mvvelo} ${mvacc} 0 ${coord} ${relative}
    • move_servo_cart_aa
      • SDK API:
        • set_servo_cartesian_aa
      • rosservice: 
        # pose: [x(mm), y(mm), z(mm), roll(rad), pitch(rad), yaw(rad)]
# mvvelo: speed (mm/s)
# mvacc: acceleration (mm/s^2)
# coord: motion coordinate system indicator, base (0) or tool(1) coordinate
# relative: indicator of given target is relative (1) or not (0, absolute)
rosservice call /xarm/move_servo_cart_aa ${pose} ${mvvelo} ${mvacc} 0 ${coord} ${relative}
    • velo_move_joint
      • SDK API:
        • vc_set_joint_velocity
      • rosservice: 
        # velocities: [joint1-velo(rad/s), ..., joint${dof}-velo(rad/s)]
# jnt_sync: whether all joints accelerate and decelerate synchronously, 1 for yes, 0 for no
rosservice call /xarm/velo_move_joint ${velocities} ${jnt_sync} 0
    • velo_move_line
      • SDK API:
        • vc_set_cartesian_velocity
      • rosservice: 
        # velocities: [velo-x(mm/s), velo-y(mm/s), velo-z(mm/s), velo-roll(rad/s), velo-pitch(rad/s), velo-yaw(rad/s)]
# coord: whether motion is in tool coordinate(1) or not(0)
rosservice call /xarm/velo_move_joint ${velocities} 0 ${coord}
    • velo_move_joint_timed
      • SDK API:
        • vc_set_joint_velocity
      • rosservice: 
        # velocities: [joint1-velo(rad/s), ..., joint${dof}-velo(rad/s)]
# is_sync: whether all joints accelerate and decelerate synchronously, 1 for yes, 0 for no
# duration: the maximum duration of the speed, over this time will automatically set the speed to 0
rosservice call /xarm/velo_move_joint_timed ${velocities} ${is_sync} 0 ${duration}
    • velo_move_line_timed
      • SDK API:
        • vc_set_cartesian_velocity
      • rosservice: 
        # velocities: [velo-x(mm/s), velo-y(mm/s), velo-z(mm/s), velo-roll(rad/s), velo-pitch(rad/s), velo-yaw(rad/s)]
# is_tool_coord: whether motion is in tool coordinate(1) or not(0)
# duration: the maximum duration of the speed, over this time will automatically set the speed to 0
rosservice call /xarm/velo_move_line_timed ${velocities} 0 ${is_tool_coord} {duration}

  • Tool GPIO (ionum from 1 to 2)

    • set_digital_out
      • SDK API:
        • set_tgpio_digital
      • rosservice: 
        # io_num: io num, 1: DO0, 2: DO1
# value: 0/1
rosservice call /xarm/set_digital_out ${io_num} ${value}
    • get_digital_in
      • SDK API:
        • get_tgpio_digital
      • rosservice: 
        rosservice call /xarm/get_digital_in
    • get_analog_in
      • SDK API:
        • get_tgpio_analog
      • rosservice: 
        # io_num: io num, 1: AI0, 2: AI1
rosservice call /xarm/get_analog_in ${io_num}

  • Controller GPIO (ionum from 1 to 16)

    • set_controller_dout
      • SDK API:
        • set_cgpio_digital
      • rosservice: 
        # io_num: io num, 1 ~ 16, (1: CO0, 9: DO0)
# value: 0/1
rosservice call /xarm/set_controller_dout ${io_num} ${value}
    • get_controller_din
      • SDK API:
        • get_cgpio_digital
      • rosservice: 
        # io_num: io num, 1 ~ 16, (1: CI0, 9: DI0)
rosservice call /xarm/get_controller_din ${io_num}
    • set_controller_aout
      • SDK API:
        • set_cgpio_analog
      • rosservice: 
        # io_num: io num, 1: AO0, 2: AO1
# value: value
rosservice call /xarm/set_controller_aout ${io_num} ${value}
    • get_controller_ain
      • SDK API:
        • get_cgpio_analog
      • rosservice: 
        # io_num: io num, 1: AI0, 2: AI1
rosservice call /xarm/get_controller_ain ${io_num}

  • XArm Gripper

    • gripper_config
      • SDK API:
        • set_gripper_mode
        • set_gripper_enable
        • set_gripper_speed
      • rosservice: 
        # velocity: pulse velocity, 1 ~ 5000
rosservice call /xarm/gripper_config ${velocity}
    • gripper_move
      • SDK API:
        • set_gripper_position
      • rosservice: 
        # pos: pulse pos, -100 ~ 850
rosservice call /xarm/gripper_move ${pos}
    • gripper_state
      • SDK API:
        • get_gripper_err_code
        • get_gripper_position
      • rosservice: 
        rosservice call /xarm/gripper_state

  • XArm Vacuum Gripper

    • vacuum_gripper_set
      • SDK API:
        • set_vacuum_gripper
      • rosservice: 
        # on: 1: open, 0: close
rosservice call /xarm/vacuum_gripper_set ${on}

  • Lite Gripper

    • open_lite6_gripper
      • SDK API:
        • open_lite6_gripper
      • rosservice: 
        rosservice call /xarm/open_lite6_gripper
    • close_lite6_gripper
      • SDK API:
        • close_lite6_gripper
      • rosservice: 
        rosservice call /xarm/close_lite6_gripper
    • stop_lite6_gripper
      • SDK API:
        • stop_lite6_gripper
      • rosservice: 
        rosservice call /xarm/stop_lite6_gripper

  • Force torque Sensor

    • ft_sensor_enable
      • SDK API:
        • ft_sensor_enable
      • rosservice: 
        # enable: 1: enable, 0: disable
rosservice call /xarm/ft_sensor_enable ${enable}
    • ft_sensor_app_set
      • SDK API:
        • ft_sensor_app_set
      • rosservice: 
        # app_code
#   0: non-force mode
#   1: impendance control
#   2: force control
rosservice call /xarm/ft_sensor_app_set ${app_code}
    • ft_sensor_set_zero
      • SDK API:
        • ft_sensor_set_zero
      • rosservice: 
        rosservice call /xarm/ft_sensor_set_zero
    • ft_sensor_cali_load
      • SDK API:
        • ft_sensor_cali_load
        • save_conf
      • rosservice: 
        # data: iden load result
# association_setting_tcp_load: association setting tcp load or not
rosservice call /xarm/ft_sensor_cali_load ${data} ${association_setting_tcp_load}
    • ft_sensor_iden_load
      • SDK API:
        • ft_sensor_iden_load
      • rosservice: 
        rosservice call /xarm/ft_sensor_iden_load
    • get_ft_sensor_error
      • SDK API:
        • get_ft_sensor_error
      • rosservice: 
        rosservice call /xarm/get_ft_sensor_error

  • Tool Modbus

    • config_tool_modbus
      • SDK API:
        • set_state
        • set_tgpio_modbus_baudrate
        • set_tgpio_modbus_timeout
      • rosservice: 
        # baudrate: baudrate
# timeout_ms: timeout(ms)
rosservice call /xarm/config_tool_modbus ${baudrate} ${timeout_ms}
    • set_tool_modbus
      • SDK API:
        • getset_tgpio_modbus_data
      • rosservice: 
        # send_data: modbus data
# respond_len: the length of the response modbus data
rosservice call /xarm/getset_tgpio_modbus_data ${send_data} ${respond_len}
    • get_tgpio_modbus_baudrate
      • SDK API:
        • get_tgpio_modbus_baudrate
      • rosservice: 
        rosservice call /xarm/get_tgpio_modbus_baudrate
    • set_tgpio_modbus_timeout
      • SDK API:
        • set_tgpio_modbus_timeout
      • rosservice: 
        # timeout_ms: timeout(ms)
# is_transparent_transmission: is transparent transmission or not
rosservice call /xarm/set_tgpio_modbus_timeout ${timeout_ms} ${is_transparent_transmission}
    • getset_tgpio_modbus_data
      • SDK API:
        • getset_tgpio_modbus_data
      • rosservice: 
        # send_data: modbus data
# respond_len: the length of the response modbus data
# host_id: host id, 9: END RS485, 10: Controller RS485
# is_transparent_transmission: is transparent transmission or not
# use_503_port: whether to use port 503 for communication
rosservice call /xarm/getset_tgpio_modbus_data ${send_data} ${respond_len} ${host_id} ${is_transparent_transmission} ${use_503_port}

  • Get

    • get_servo_angle
      • SDK API:
        • get_servo_angle
      • rosservice: 
        rosservice call /xarm/get_servo_angle
    • get_position_rpy
      • SDK API:
        • get_position
      • rosservice: 
        rosservice call /xarm/get_position_rpy
    • get_position_axis_angle
      • SDK API:
        • get_position_aa
      • rosservice: 
        rosservice call /xarm/get_position_axis_angle

  • Set

    • set_tcp_offset
      • SDK API:
        • set_tcp_offset
        • save_conf
      • rosservice 
        # x/y/z: mm
# roll/pitch/yaw: rad
rosservice call /xarm/set_tcp_offset ${x} ${y} ${z} ${roll} ${pitch} ${yaw}
    • set_load
      • SDK API:
        • set_tcp_load
        • save_conf
      • rosservice 
        # mass: kg
# xc: x center of mass (mm)
# yc: y center of mass (mm)
# zc: z center of mass (mm)
rosservice call /xarm/set_load ${mass} ${xc} ${yc} ${zc}
    • set_max_acc_joint
      • SDK API:
        • set_joint_maxacc
      • rosservice 
        # maxacc: joint max acc, rad/s^2, 0 ~ 20
rosservice call /xarm/set_max_acc_joint ${maxacc}
    • set_max_acc_line
      • SDK API:
        • set_tcp_maxacc
      • rosservice 
        # maxacc: tcp max acc, mm/s^2, 0 ~ 50000
rosservice call /xarm/set_max_acc_line ${maxacc}
    • set_collision_rebound
      • SDK API:
        • set_collision_rebound
      • rosservice 
        # on: 1: on, 0: off
rosservice call /xarm/set_collision_rebound ${on}
    • set_collision_sensitivity
      • SDK API:
        • set_collision_sensitivity
      • rosservice 
        # sens: collision sensitivity, 0 ~ 5
rosservice call /xarm/set_collision_sensitivity ${sens}
    • set_teach_sensitivity
      • SDK API:
        • set_teach_sensitivity
      • rosservice 
        # sens: teach sensitivity, 1 ~ 5
rosservice call /xarm/set_teach_sensitivity ${sens}
    • set_world_offset
      • SDK API:
        • set_world_offset
        • save_conf
      • rosservice 
        # x/y/z: mm
# roll/pitch/yaw: rad
rosservice call /xarm/set_world_offset ${x} ${y} ${z} ${roll} ${pitch} ${yaw}
    • set_fence_mode
      • SDK API:
        • set_fence_mode
      • rosservice 
        # on: 1: on, 0: off
rosservice call /xarm/set_fence_mode ${on}
    • set_reduced_mode
      • SDK API:
        • set_reduced_mode
      • rosservice 
        # on: 1: on, 0: off
rosservice call /xarm/set_reduced_mode ${on}
    • set_tcp_jerk
      • SDK API:
        • set_tcp_jerk
      • rosservice 
        # jerk: tcp max acc, mm/s^3
rosservice call /xarm/set_tcp_jerk ${jerk}
    • set_joint_jerk
      • SDK API:
        • set_joint_jerk
      • rosservice 
        # jerk: joint jerk, rad/s^3
rosservice call /xarm/set_joint_jerk ${jerk}

  • Trajectory

    • set_recording
      • SDK API:
        • start_record_trajectory or stop_record_trajectory
      • rosservice 
        # on: 1: start, 0: stop
rosservice call /xarm/set_recording ${on}
    • save_traj
      • SDK API:
        • save_record_trajectory
      • rosservice 
        # filename: the trajectory filename to save
# timeout: save timeout (second)
rosservice call /xarm/save_traj ${filename} ${timeout}
    • play_traj
      • SDK API:
        • playback_trajectory
      • rosservice 
        # filename: the trajectory filename to playback
# times: repeat times
# speed_factor: speed factor, 1/2/4
rosservice call /xarm/play_traj ${filename} ${times} ${speed_factor}