deltarobotone / one_easy_protocol_pkg

one-easy-protocol bridge for ROS. This package provides ROS services to control Delta-Robot One

one_easy_protocol_pkg

ROS package to control Delta-Robot One (one-easy-protocol bridge)

This package is part of the visy ROS workspace:

• visy_sorting_app_pkg
• visy_detector_pkg
• visy_user_interface_pkg
• one_easy_protocol_pkg
• visy_neopixel_pkg
• raspicam_node

Nodes

one_ctrl_node.py

ROS node provides services to control Delta-Robot One using one-easy-protocol

Advertised Services

ctrl_robot_connect (one_easy_protocol_pkg/RobotConnect)

Connect robot. This service uses find_robot() function of one-easy-protocol to scan all ports for a connected robot. If a robot is available it will be connected. Make shur that the robot is enabled and in Remote->Serial USB mode.

ctrl_robot_disconnect (one_easy_protocol_pkg/RobotDisconnect)

Disconnect robot.

ctrl_robot_extmotor (one_easy_protocol_pkg/RobotExtMotor)

Enable or disable robot external motor control via enable and choose velocity via speed (0-255).

ctrl_robot_gripper (one_easy_protocol_pkg/RobotGripper)

Enable or disable robot gripper via enable argument.

ctrl_robot_light (one_easy_protocol_pkg/RobotLight)

Enable robot leds with given colours RED, GREEN, BLUE, YELLOW, MAGENTA, CYAN, WHITE for light and choose intensity (0-255). Disable via light -> OFF.

ctrl_robot_move (one_easy_protocol_pkg/RobotMove)

Move robot to position x,y,z (mm) with velocity v (0-100%).