工具控制接口¶
注意：请在 studio 界面选择已安装的末端执行器后再使用调用接口控制末端执行器。
接口文件： gauss/gauss_python_api/src/gauss_python_api/gauss_api.py
- 接口： gauss/commander/robot_action
- ROS 接口类型： Action
- 接口内容： RobotMoveAction
工具接口支持： gripper、air_vacuum、electromagnet、DCMOTOR、laser 等工具
- gripper 为电机控制
- electromagnet、DCMOTOR、laser、air_vacuum 为 digital_io 控制
end_effectors.yaml 文件列出了各种工具的参数等信息：
command_list:
# Gripper
open_gripper: 1
close_gripper: 2
# Vacuump pump
pull_air_vacuum_pump: 10
push_air_vacuum_pump: 11
# Tools controlled by digital I/Os
setup_digital_io: 20
activate_digital_io: 21
deactivate_digital_io: 22
tool_list:
- name: "Gripper 1"
type: "gripper"
id: 11
available_commands:
- open_gripper
- close_gripper
specs:
open_position: 600
open_hold_torque: 404
close_position: 350
close_hold_torque: 404
close_max_torque: 1023
open_speed: 300
close_speed: 300
- name: "Gripper 2"
type: "gripper"
id: 12
available_commands:
- open_gripper
- close_gripper
specs:
open_position: 640
open_hold_torque: 128
close_position: 400
close_hold_torque: 128
close_max_torque: 1023
open_speed: 300
close_speed: 300
- name: "Gripper 3"
type: "gripper"
id: 13
available_commands:
- open_gripper
- close_gripper
specs:
open_position: 450
open_hold_torque: 128
close_position: 220
close_hold_torque: 160
close_max_torque: 1023
open_speed: 300
close_speed: 300
- name: "Electromagnet 1"
type: "electromagnet"
id: 30
available_commands:
- activate_digital_io
- deactivate_digital_io
- setup_digital_io
specs:
[]
- name: "Vacuum Pump 1"
type: "vacuum_pump"
id: 31
available_commands:
- pull_air_vacuum_pump
- push_air_vacuum_pump
specs:
[]
- name: "Laser 1"
type: "laser"
id: 32
available_commands:
- activate_digital_io
- deactivate_digital_io
- setup_digital_io
specs:
[]
- name: "DC Motor 1"
type: "dc_motor"
id: 33
available_commands:
- activate_digital_io
- deactivate_digital_io
- setup_digital_io
specs:
[]
可选接口（一）¶
- gauss/tool_action 控制末端执行器执行动作
- gauss/change_tool 改变末端的工具
- /gauss/current_tool_id