Tormach ZA ROS 1 *_msgs packages

This distribution provides all ROS 1 interface (ROS topic, service and action) definitions needed to connect a remote ZA robot.

Checked out into a ROS 1 workspace, this repo provides the custom *_msgs ROS packages used in ZA controllers. It also provides a vcstool configuration to pull the ZA's customized moveit_msgs package, and package dependencies for rosdeps to install remaining standard interface packages.

Starting from an existing ROS 1 workspace, this README shows how to install the interface packages, how to connect your workspace to the ZA controller's ROS master, and where to find additional documentation.

ROS 2 support is planned but currently not available.

Install Tormach ZA support packages in a ROS 1 workspace

These instructions assume an existing ROS 1 workspace.

Check out this git repo under your workspace's src/ directory.

git clone https://github.com/tormach/tormach_za_msgs src/tormach_za_msgs

Install the vcs tool if needed.

sudo apt-get install python3-vcstool

Pull source dependencies into your workspace. (Ignore 'detached HEAD' messages.)

vcs import src < src/tormach_za_msgs/za.repos.yaml

Install any missing package dependencies.

rosdep install --from-paths src/tormach_za_msgs --ignore-src

Build and set up the ROS environment as you usually do.

catkin build
source devel/setup.bash

Connect to the Tormach ZA robot

On the PathPilot robot UI, obtain the ROS_MASTER_URI, visible in the lower-right corner, left of the "Exit" button.

Set the ROS_MASTER_URI environment variable in the remote ROS workspace. Example:

export ROS_MASTER_URI=http://192.168.0.42:11311/

You should now be able to see the ROS nodes on the robot.

rosnode list  # /move_group etc.

Tormach ZA robot ROS interfaces

The ZA knowledgebase "API access levels" article contains some information about how to use the ZA robot ROS interfaces to control the robot. A few example are below.

hal_io

The hal_io ROS node is a non-RT interface to robot controls:

• Digital I/O: /hal_io/digital_in_* and /hal_io/digital_out_* topics
• Motor drive controls: /hal_io/state_cmd and /hal_io/state_fb topics
  • Stop=1, Start=2, Home=3, Fault=4

robot_command

The robot_command ROS node is the TRPL interpreter.

# Load a program file
rosservice call /robot_command/load_program \
    ~/nc_files/robot_programs/example_program.py
# Run the program; see src/robot_command_msgs/srv/RunCommand.srv
rosservice call -v /robot_command/run_command 2 # COMMAND_START
# Execute an MDI command
rosservice call -v /robot_command/execute_mdi "<MDI command>"

MoveIt

The MoveIt interfaces are documented in the MoveIt project. Tormach has customized some messages; see their definitions in the moveit_msgs package downloaded by the vcstool (see above).