目录

• 1rm_ros_interface Package Description
• 2rm_ros_interface Package Use
• 3rm_ros_interface Package Architecture Description
• 3.1Overview of Package Files
• 4rm_ros_interface message description
• 4.1Joint error code-Jointerrorcode_msg
• 4.2Clearing the joint’s error code-Jointerrclear_msg
• 4.3All coordinate system names-Getallframe_msg
• 4.4Joine motion-Movej_msg
• 4.5Linear motion-Movel_msg
• 4.6Circular motion-Movec_msg
• 4.7Joint space planning to target pose-Movejp_msg
• 4.8Joint teaching-Jointteach_msg-Jointteach_msg
• 4.9Position teaching-Posteach_msg
• 4.10Attitude teaching-Ortteach_msg
• 4.11Joint transmission-Jointpos_msg
• 4.12Pose transmission-Cartepos_msg
• 4.13Current robotic arm state Angle and Euler angle-Armoriginalstate_msg
• 4.14Current arm state radians and quaternion-Armstate_msg
• 4.15Gripper’s pick-Gripperpick_msg
• 4.16Gripper’s pick gripper’s pick-on-Gripperpick_msg
• 4.17Gripper reaching the given position-Gripperset_msg
• 4.18Force-position mixing control-Setforceposition_msg
• 4.19Six-axis force data-Sixforce_msg
• 4.20Setting the dexterous hand posture-Handposture_msg
• 4.21Setting the dexterous hand action sequence-Handseq_msg
• 4.22Setting the angles of various degrees of freedom for the dexterous hand-Handangle_msg
• 4.23Setting the dexterous hand action sequence-Handspeed_msg
• 4.24Setting the force threshold for the dexterous hand-Handforce_msg
• 4.25Transmissive force-position mixing control compensation-angle-Forcepositionmovejoint_msg
• 4.26Transmissive force-position mixing control compensation-pose-Forcepositionmovejoint_msg
• 4.27Speed open loop control-lifting mechanism-Liftspeed_msg
• 4.28Position closed-loop control-lifting mechanism-Lift height_msg
• 4.29Getting the state of the lifting mechanism-Liftstate_msg
• 4.30Getting or setting UDP active reporting configuration-Setrealtimepush_msg
• 4.31UDP manipulator status report Armcurrentstatus_msg
• 4.32UDP joint current report Jointcurrent_msg
• 4.33UDP joint enabling status report Jointenflag_msg
• 4.34UDP manipulator Euler’s angular pose is reported to Jointposeeuler_msg
• 4.35UDP joint speed report Jointspeed_msg
• 4.36UDP joint temperature report Jointtemperature_msg
• 4.37UDP joint voltage report Jointvoltage_msg
• 4.38System error code_Rmerr_msg
• 4.39Basic information of the end-effector device_Rmplusbase_msg
• 4.40Real time information of the end_effector device-Rmplusstate_msg
• 4.41Customize high following mode joint transmission-Jointposcustom_msg
• 4.42Customize high following mode pose transmission-Carteposcustom_msg

rm_ros_interface_Package_Description

The main function of the rm_ros_interface package is to provide necessary message files for the robotic arm to run under the framework of ROS2. In the following text, we will provide a detailed introduction to this package through the following aspects.

• 1.Package use.
• 2.Package architecture description.
• 3.Package topic description.
  Through the introduction of the three parts, it can help you-
• 1.Understand the package use.
• 2.Familiar with the file structure and function of the package.
• 3.Familiar with the topic related to the package for easy development and use.

  rm_ros_interface_Package_Use

  This package does not have any executable commands, but it is used to provide the necessary message files for other packages.

  rm_ros_interface_Package_Architecture_Description

  Overview_of_Package_Files

``` ├── CMakeLists.txt # compilation rule file ├── include # dependency header file folder │ └── rm_ros_interfaces ├── msg # current message file (see below for details) │ ├── Armcurrentstatus.msg │ ├── Armoriginalstate.msg │ ├── Armstate.msg │ ├── Cartepos.msg

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