Description of the data structure used by xarm_ros2

msg

xarm_msgs::msg::RobotMsg
- xarm_api->topic: robot_states
xarm_msgs::msg::CIOState
- xarm_api->topic: xarm_cgpio_states
sensor_msgs::msg::JointState
- xarm_api->topic: joint_states

srv

xarm_msgs::srv::Call
- xarm_api->service: clean_error
- xarm_api->service: clean_warn
- xarm_api->service: clean_conf
- xarm_api->service: save_conf
- xarm_api->service: reload_dynamics
- xarm_api->service: set_counter_reset
- xarm_api->service: set_counter_increase
- xarm_api->service: clean_gripper_error
- xarm_api->service: clean_bio_gripper_error
- xarm_api->service: start_record_trajectory
- xarm_api->service: stop_record_trajectory
- xarm_api->service: ft_sensor_set_zero
- xarm_api->service: set_linear_track_stop
- xarm_api->service: clean_linear_track_error
- xarm_api->service: open_lite6_gripper
- xarm_api->service: close_lite6_gripper
- xarm_api->service: stop_lite6_gripper
xarm_msgs::srv::GetInt16
- xarm_api->service: get_state
- xarm_api->service: get_cmdnum
- xarm_api->service: get_vacuum_gripper
- xarm_api->service: get_gripper_err_code
- xarm_api->service: get_bio_gripper_status
- xarm_api->service: get_bio_gripper_error
- xarm_api->service: get_reduced_mode
- xarm_api->service: get_report_tau_or_i
- xarm_api->service: ft_sensor_app_get
- xarm_api->service: get_ft_sensor_error
- xarm_api->service: get_trajectory_rw_status
- xarm_api->service: get_linear_track_pos
- xarm_api->service: get_linear_track_status
- xarm_api->service: get_linear_track_error
- xarm_api->service: get_linear_track_is_enabled
- xarm_api->service: get_linear_track_on_zero
- xarm_api->service: get_linear_track_sci
xarm_msgs::srv::GetInt16List
- xarm_api->service: get_err_warn_code
- xarm_api->service: get_linear_track_sco
xarm_msgs::srv::SetInt16
- xarm_api->service: set_mode
- xarm_api->service: set_state
- xarm_api->service: set_collision_sensitivity
- xarm_api->service: set_teach_sensitivity
- xarm_api->service: set_gripper_mode
- xarm_api->service: set_gripper_enable
- xarm_api->service: set_bio_gripper_speed
- xarm_api->service: set_fence_mode
- xarm_api->service: set_reduced_mode
- xarm_api->service: set_self_collision_detection
- xarm_api->service: set_simulation_robot
- xarm_api->service: set_baud_checkset_enable
- xarm_api->service: set_report_tau_or_i
- xarm_api->service: ft_sensor_enable
- xarm_api->service: ft_sensor_app_set
- xarm_api->service: set_linear_track_enable
- xarm_api->service: set_linear_track_speed
- xarm_api->service: set_cartesian_velo_continuous
- xarm_api->service: set_allow_approx_motion
- xarm_api->service: set_only_check_type
- xarm_api->service: config_tgpio_reset_when_stop
- xarm_api->service: config_cgpio_reset_when_stop
xarm_msgs::srv::SetInt16ById
- xarm_api->service: motion_enable
- xarm_api->service: set_servo_attach
- xarm_api->service: set_servo_detach
xarm_msgs::srv::SetInt16List
- xarm_api->service: set_reduced_tcp_boundary
xarm_msgs::srv::GetInt32
- xarm_api->service: get_tgpio_modbus_baudrate
xarm_msgs::srv::SetInt32
- xarm_api->service: set_tgpio_modbus_baudrate
xarm_msgs::srv::GetFloat32
- xarm_api->service: get_gripper_position
xarm_msgs::srv::GetFloat32List
- xarm_api->service: get_position
- xarm_api->service: get_servo_angle
- xarm_api->service: get_position_aa
- xarm_api->service: get_ft_sensor_data
xarm_msgs::srv::SetFloat32
- xarm_api->service: set_pause_time
- xarm_api->service: set_tcp_jerk
- xarm_api->service: set_tcp_maxacc
- xarm_api->service: set_joint_jerk
- xarm_api->service: set_joint_maxacc
- xarm_api->service: set_gripper_speed
- xarm_api->service: set_reduced_max_tcp_speed
- xarm_api->service: set_reduced_max_joint_speed
xarm_msgs::srv::SetFloat32List
- xarm_api->service: set_gravity_direction
- xarm_api->service: set_tcp_offset
- xarm_api->service: set_world_offset
- xarm_api->service: set_reduced_joint_range
xarm_msgs::srv::SetTcpLoad
- xarm_api->service: set_tcp_load
xarm_msgs::srv::MoveCartesian
- xarm_api->service: set_position
- xarm_api->service: set_tool_position
- xarm_api->service: set_position_aa
- xarm_api->service: set_servo_cartesian
- xarm_api->service: set_servo_cartesian_aa
xarm_msgs::srv::MoveJoint
- xarm_api->service: set_servo_angle
- xarm_api->service: set_servo_angle_j
xarm_msgs::srv::MoveCircle
- xarm_api->service: move_circle
xarm_msgs::srv::MoveHome
- xarm_api->service: move_gohome
xarm_msgs::srv::MoveVelocity
- xarm_api->service: vc_set_joint_velocity
- xarm_api->service: vc_set_cartesian_velocity
xarm_msgs::srv::GetDigitalIO
- xarm_api->service: get_tgpio_digital
- xarm_api->service: get_cgpio_digital
xarm_msgs::srv::GetAnalogIO
- xarm_api->service: get_tgpio_analog
- xarm_api->service: get_cgpio_analog
xarm_msgs::srv::SetDigitalIO
- xarm_api->service: set_tgpio_digital
- xarm_api->service: set_cgpio_digital
- xarm_api->service: set_tgpio_digital_with_xyz
- xarm_api->service: set_cgpio_digital_with_xyz
xarm_msgs::srv::SetAnalogIO
- xarm_api->service: set_cgpio_analog
- xarm_api->service: set_cgpio_analog_with_xyz
xarm_msgs::srv::VacuumGripperCtrl
- xarm_api->service: set_vacuum_gripper
xarm_msgs::srv::GripperMove
- xarm_api->service: set_gripper_position
xarm_msgs::srv::BioGripperEnable
- xarm_api->service: set_bio_gripper_enable
xarm_msgs::srv::BioGripperCtrl
- xarm_api->service: open_bio_gripper
- xarm_api->service: close_bio_gripper
xarm_msgs::srv::RobotiqReset
- xarm_api->service: robotiq_reset
xarm_msgs::srv::RobotiqActivate
- xarm_api->service: robotiq_set_activate
xarm_msgs::srv::RobotiqMove
- xarm_api->service: robotiq_set_position
- xarm_api->service: robotiq_open
- xarm_api->service: robotiq_close
xarm_msgs::srv::RobotiqGetStatus
- xarm_api->service: robotiq_get_status
xarm_msgs::srv::SetModbusTimeout
- xarm_api->service: set_tgpio_modbus_timeout
xarm_msgs::srv::GetSetModbusData
- xarm_api->service: getset_tgpio_modbus_data
xarm_msgs::srv::TrajCtrl
- xarm_api->service: save_record_trajectory
- xarm_api->service: load_trajectory
xarm_msgs::srv::TrajPlay
- xarm_api->service: playback_trajectory
xarm_msgs::srv::IdenLoad
- xarm_api->service: iden_tcp_load
- xarm_api->service: ft_sensor_iden_load
xarm_msgs::srv::FtCaliLoad
- xarm_api->service: ft_sensor_cali_load
xarm_msgs::srv::FtForceConfig
- xarm_api->service: config_force_control
xarm_msgs::srv::FtForcePid
- xarm_api->service: set_force_control_pid
xarm_msgs::srv::FtImpedance
- xarm_api->service: set_impedance
- xarm_api->service: set_impedance_mbk
- xarm_api->service: _set_impedance_config
xarm_msgs::srv::LinearTrackBackOrigin
- xarm_api->service: set_linear_track_back_origin
xarm_msgs::srv::LinearTrackSetPos
- xarm_api->service: set_linear_track_pos
xarm_msgs::srv::PlanPose
- xarm_planner->service: xarm_pose_plan
xarm_msgs::srv::PlanJoint
- xarm_planner->service: xarm_joint_plan
xarm_msgs::srv::PlanSingleStraight
- xarm_planner->service: xarm_straight_plan
xarm_msgs::srv::PlanExec
- xarm_planner->service: xarm_exec_plan

action

control_msgs::action::GripperCommand
- - xarm_api->action: xarm_gripper/gripper_action