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package.xml	package.xml

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}

Files

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Folders and files

parent directory

ReadMe.md

xarm_api services description

Services

Init

motion_ctrl

set_mode

set_state

clear_err

moveit_clear_err

Motion

go_home

move_joint

move_jointb

move_line

move_lineb

move_line_tool

move_servoj

move_servo_cart

move_line_aa

move_servo_cart_aa

velo_move_joint

velo_move_line

velo_move_joint_timed

velo_move_line_timed

Tool GPIO (ionum from 1 to 2)

set_digital_out

get_digital_in

get_analog_in

Controller GPIO (ionum from 1 to 16)

set_controller_dout

get_controller_din

set_controller_aout

get_controller_ain

XArm Gripper

gripper_config

gripper_move

gripper_state

XArm Vacuum Gripper

vacuum_gripper_set

Lite Gripper

open_lite6_gripper

close_lite6_gripper

stop_lite6_gripper

Force torque Sensor

ft_sensor_enable

ft_sensor_app_set

ft_sensor_set_zero

ft_sensor_cali_load

ft_sensor_iden_load

get_ft_sensor_error

Tool Modbus

config_tool_modbus

set_tool_modbus

get_tgpio_modbus_baudrate

set_tgpio_modbus_timeout

getset_tgpio_modbus_data

Get

get_servo_angle

get_position_rpy

get_position_axis_angle

Set

set_tcp_offset

set_load

set_max_acc_joint

set_max_acc_line

set_collision_rebound

set_collision_sensitivity

set_teach_sensitivity

set_world_offset