ibt_ros2_interfaces

Version: 1.5.2

Messages

ibt_ros2_interfaces/msg/MoveReq.msg

Move request message for a robotic ARM

• int32 move_type: Possible type of movement
• Waypoint[] waypoints: List of waypoints to move through
• float64 angle
• float64 velocity
• float64 acceleration
• float64 rotational_velocity
• float64 rotational_acceleration

ibt_ros2_interfaces/msg/PoseRPY.msg

Eulerian pose

• float64 x
• float64 y
• float64 z
• float64 roll
• float64 pitch
• float64 yaw

ibt_ros2_interfaces/msg/VectorBool.msg

• bool[] data

ibt_ros2_interfaces/msg/Waypoint.msg

Waypoint message for defining a target

• float64[6] pose: pose in Cartesian or joint space
• float64 smoothing_factor: waypoint smoothing factor in the range [0..1]
• float64 next_segment_velocity_factor: segment velocity factor in the range [0..1]

Services

ibt_ros2_interfaces/srv/GetAttrAll.srv

Request

• uint16 clas
• uint8 instance

Response

• uint8 result_code
• uint16[] result

ibt_ros2_interfaces/srv/GetInput.srv

Request Get Digital Inputs

Response

• bool[] data
• bool success
• string message

ibt_ros2_interfaces/srv/SetAttrAll.srv

Request

• uint16 clas
• uint8 instance
• uint16[10] data

Response

• uint8 result_code

ibt_ros2_interfaces/srv/SetOutput.srv

Request Set Digital Outputs

• bool[] data

Response

• bool success
• string message

Actions

ibt_ros2_interfaces/action/Docking.action

Goal Goal

• string command

Result Result

• bool success
• string message

Feedback Feedback

• string current_status

ibt_ros2_interfaces/action/MoveArm.action

Goal Request

• std_msgs/Header header
• MoveReq[] requests

Result Result

• int32 error_code: error code
• string error_str: error message

Feedback Feedback

• string status: status of the move