URInterfaces API reference

This document contains information about URInterface message types.
Documentation regarding ROS2 common message types, can be found at ROS2 Common interfaces.

Name

Analog.msg
BoolStamped.msg
ControlCycle.msg
Current.msg
DigitalPort.msg
DoubleMultiArrayStamped.msg
Float32Stamped.msg
Float64Stamped.msg
JointMode.msg
JointTemperature.msg
JointVoltage.msg
RobotMode.msg
RuntimeState.msg
SafetyStatus.msg
SetAnalogOutput_Request.msg
SetAnalogOutput_Response.msg
SetDigitalOutput_Request.msg
SetDigitalOutput_Response.msg
SetSpeedFraction_Request.msg
SetSpeedFraction_Response.msg
SpeedSliderFraction.msg
TCPState.msg
ToolOutputMode.msg
VoltageCurrentStamped.msg
WorldModelNames.msg
SetAnalogOutput.srv
SetDigitalOutput.srv
SetSpeedFraction.srv

Analog.msg

std_msgs/Header header
uint8 CURRENT=0
uint8 VOLTAGE=1

uint8 domain # can be VOLTAGE or CURRENT
float32 value

BoolStamped.msg

std_msgs/Header header
bool data

ControlCycle.msg

std_msgs/Header header
uint64 cycle_counter

Current.msg

std_msgs/Header header
float32 current

DigitalPort.msg

std_msgs/Header header
bool[] state

DoubleMultiArrayStamped.msg

std_msgs/Header header
float64[] data

Float32Stamped.msg

std_msgs/Header header
float32 data

Float64Stamped.msg

std_msgs/Header header
float64 data

JointMode.msg

uint8 JOINT_MODE_RESET=235
uint8 JOINT_MODE_SHUTTING_DOWN=236
uint8 JOINT_MODE_PART_D_CALIBRATION=237
uint8 JOINT_MODE_BACKDRIVE=238
uint8 JOINT_MODE_POWER_OFF=239
uint8 JOINT_MODE_READY_FOR_POWER_OFF=240
uint8 JOINT_MODE_NOT_RESPONDING=245
uint8 JOINT_MODE_MOTOR_INITIALISATION=246
uint8 JOINT_MODE_BOOTING=247
uint8 JOINT_MODE_PART_D_CALIBRATION_ERROR=248
uint8 JOINT_MODE_BOOTLOADER=249
uint8 JOINT_MODE_CALIBRATION=250
uint8 JOINT_MODE_VIOLATION=251
uint8 JOINT_MODE_FAULT=252
uint8 JOINT_MODE_RUNNING=253
uint8 JOINT_MODE_IDLE=255

std_msgs/Header header
uint8[6] joint_modes
uint8 tool_mode

JointTemperature.msg

std_msgs/Header header
float32[6] joint_temperatures

JointVoltage.msg

std_msgs/Header header
float64[6] voltages

RobotMode.msg

int8 DISCONNECTED=0
int8 CONFIRM_SAFETY=1
int8 BOOTING=2
int8 POWER_OFF=3
int8 POWER_ON=4
int8 IDLE=5
int8 BACKDRIVE=6
int8 RUNNING=7
int8 UPDATING_FIRMWARE=8

std_msgs/Header header
int8 value

RuntimeState.msg

int8 PROGRAM_STATE_UNDEFINED=-1
int8 PROGRAM_STATE_STOPPING=0
int8 PROGRAM_STATE_STOPPED=1
int8 PROGRAM_STATE_RUNNING=2
int8 PROGRAM_STATE_PAUSING=3
int8 PROGRAM_STATE_PAUSED=4
int8 PROGRAM_STATE_RESUMING=5
int8 PROGRAM_STATE_RETRACTING=6

std_msgs/Header header
int8 value

SafetyStatus.msg

int8 NORMAL=1
int8 REDUCED=2
int8 PROTECTIVE_STOP=3
int8 RECOVERY=4
int8 SAFEGUARD_STOP=5
int8 SYSTEM_EMERGENCY_STOP=6
int8 ROBOT_EMERGENCY_STOP=7
int8 VIOLATION=8
int8 FAULT=9
int8 VALIDATE_JOINT_ID=10
int8 UNDEFINED_SAFETY_MODE=11
int8 AUTOMATIC_MODE_SAFEGUARD_STOP=12
int8 SYSTEM_THREE_POSITION_ENABLING_STOP=13

std_msgs/Header header
int8 safety_state

SetAnalogOutput_Request.msg

# Note: 'fun' is short for function of the pin to be selected
bool OUTPUT_CURRENT = 0
bool OUTPUT_VOLTAGE = 1

# The value for pin [0-1]

# Value for 'FUN_CURRENT' must be from [0.002; 0.020] A ;
# Value for 'FUN_VOLTAGE' must be from [0; 10] V ;

# request fields
int8 pin
bool output_type
float64 value

SetAnalogOutput_Response.msg


bool success

SetDigitalOutput_Request.msg

# The value for pin [0-7]

# valid values for 'state' when setting digital IO or flags
bool STATE_OFF = 0
bool STATE_ON = 1

# request fields
int8 pin
bool state

SetDigitalOutput_Response.msg


bool success

SetSpeedFraction_Request.msg

# Set the speed slider on the teach pendant to the specified value.
#
# Value must be from [0; 1.0]; 

float32 value

SetSpeedFraction_Response.msg


bool success

SpeedSliderFraction.msg

std_msgs/Header header
float64 speed_scale

TCPState.msg

std_msgs/Header header

geometry_msgs/Pose pose
geometry_msgs/Twist speed

ToolOutputMode.msg

std_msgs/Header header
uint8 TOOL_OUPUT=0
uint8 TOOL_POWER=1
uint8 TOOL_SAFE=2

uint8 output_mode

uint8 OUTPUT_MODE_DISABLED=0
uint8 OUTPUT_MODE_SINKING=1
uint8 OUTPUT_MODE_SOURCING=2
uint8 OUTPUT_MODE_PUSH_PULL=3

uint8[2] output_pin_mode

VoltageCurrentStamped.msg

std_msgs/Header header
float64  voltage
float64 current

WorldModelNames.msg

std_msgs/Header header

std_msgs/String[] names

SetAnalogOutput.srv

# Note: 'fun' is short for function of the pin to be selected
bool OUTPUT_CURRENT = 0
bool OUTPUT_VOLTAGE = 1

# The value for pin [0-1]

# Value for 'FUN_CURRENT' must be from [0.002; 0.020] A ;
# Value for 'FUN_VOLTAGE' must be from [0; 10] V ;

# request fields
int8 pin
bool output_type
float64 value
---
bool success

SetDigitalOutput.srv

# The value for pin [0-7]

# valid values for 'state' when setting digital IO or flags
bool STATE_OFF = 0
bool STATE_ON = 1

# request fields
int8 pin
bool state
---
bool success

SetSpeedFraction.srv

# Set the speed slider on the teach pendant to the specified value.
#
# Value must be from [0; 1.0]; 

float32 value
---
bool success