ManyMove Signals

This manymove_signals package is part of the manymove project for ROS 2 Humble. It provides a unified signals interface (digital I/O, robot state checks, and robot reset logic) for various robot models, using xArm or UFactory-like services and topics.

Use at your own risk; this repository is experimental and does not provide safety features.

Overview

Key Functionalities

• Digital I/O
  Action servers to set or get I/O pins (SetOutput, GetInput) for both tool and controller IO types.
• Robot State Check & Reset
  Action servers to check if the robot is ready (CheckRobotState) and to reset it if needed (ResetRobotState), wrapping lower-level services (clean_error, motion_enable, set_mode, etc.).
• Multi-Model Support
  Adjusts namespace and service calls depending on the robot_model parameter (lite6, uf850, or xarm).

Architecture

1. signals_node.cpp
   • The main node (manymove_signals_node) sets up:
     • Service Clients: set_tgpio_digital, get_tgpio_digital, set_cgpio_digital, get_cgpio_digital, plus xArm’s set_mode, set_state, clean_error, motion_enable.
     • Action Servers: set_output, get_input, reset_robot_state, check_robot_state.
     • Subscription: E.g., <robot_prefix>ufactory/robot_states or <robot_prefix>xarm/robot_states for continuous monitoring.
   • Each action server delegates to the relevant service calls to handle the requested logic.
2. Reset Robot Flow
   • Cleans errors, re-enables motion, sets mode/state, and verifies the result by checking the subscription to robot_states.
3. Check Robot State
   • Reads the last known robot_states message, checking for err == 0, mode == 1, etc.

Installation & Dependencies

Follow the main ManyMove README.

Usage

Run the Signals Node

ros2 run manymove_signals manymove_signals_node

Parameters:

• robot_model: e.g., lite6, uf850, or xarm
• robot_prefix: optional namespace prefix (e.g., R_)

Action Servers

• <robot_prefix>set_output: Takes an io_type (tool or controller), ionum, and value (0/1).
• <robot_prefix>get_input: Returns the digital input for a given pin.
• <robot_prefix>reset_robot_state: Cleans error, re-enables motion, sets mode/state, and checks the robot’s readiness.
• <robot_prefix>check_robot_state: Returns current error, mode, and state, plus a boolean for “ready.”

Compatibility

Typically used by manymove_planner or manymove_cpp_trees for logic that requires direct I/O or resetting the robot at runtime.

Notes & Disclaimer

• Experimental: This package is under active development.
• No Safety Features: Always configure your hardware’s safety mechanisms separately.
• Check Main README for disclaimers, licensing, and additional info.