staubli_robot_driver::RobotDriver Class Reference

Main interface for controlling Staubli robots. More...

#include <robot_driver.hpp>

Classes
struct	NetworkConfig
	Configuration structure for the communication. More...

Public Member Functions
	RobotDriver ()
	Constructor.
	~RobotDriver ()
	Destructor.
bool	connect (const std::string &robot_ip, int timeout_ms)
	Connect to the robot with the default network configuration.
bool	connect (const NetworkConfig &config, int timeout_ms=5000)
	Connect to the robot with a specific network configuration.
bool	disconnect ()
	Disconnect from the robot.
bool	is_connected () const
	Check if connected to the robot (does not check for message staleness)
bool	send_stop_all_command ()
	Send a STOP command to the robot (halts motion and sets IOs to zero)
bool	send_robot_command (const RobotCommandMessage &command)
	Send a command to the robot.
bool	read_robot_state (RobotStateMessage &state)
	Get the current (latest) robot state.
bool	read_diagnostic_data (DiagnosticDataMessage &data)
	Get the latest diagnostic data, see update_robot_state() for notes.
void	set_state_staleness_timeout (rclcpp::Duration staleness_timeout=rclcpp::Duration(0, 1e8))
	Set the staleness timeout after which the robot state is considered stale.
void	set_diagnostic_staleness_timeout (rclcpp::Duration staleness_timeout=rclcpp::Duration(0, 1e8))
	Set the staleness timeout after which the diagnostic data is considered stale.
size_t	get_current_message_sequence () const
	Get the sequence ID of the last valid received robot state message.

Protected Member Functions
void	reset_data ()
bool	is_state_msg_valid () const
bool	is_diagnostic_msg_valid () const

Detailed Description

Main interface for controlling Staubli robots.

This class provides methods to connect to a Staubli robot, send commands, and receive state and diagnostic information.

Constructor & Destructor Documentation

RobotDriver()

staubli_robot_driver::RobotDriver::RobotDriver

(

)

Constructor.

~RobotDriver()

staubli_robot_driver::RobotDriver::~RobotDriver

(

)

Destructor.

Member Function Documentation

connect() [1/2]

bool staubli_robot_driver::RobotDriver::connect	(	const std::string &	robot_ip,
		int	timeout_ms
	)

Connect to the robot with the default network configuration.

Parameters

robot_ip	IP address of the robot
timeout_ms	Connection timeout in milliseconds

Returns

True if connected successfully, false otherwise

connect() [2/2]

bool staubli_robot_driver::RobotDriver::connect	(	const NetworkConfig &	config,
		int	timeout_ms = 5000
	)

Connect to the robot with a specific network configuration.

Parameters

config	Network configuration
timeout_ms	Connection timeout in milliseconds

Returns

True if connected successfully, false otherwise

disconnect()

bool staubli_robot_driver::RobotDriver::disconnect

(

)

Disconnect from the robot.

Returns

True if disconnected successfully, false otherwise

is_connected()

bool staubli_robot_driver::RobotDriver::is_connected

(

)

const

Check if connected to the robot (does not check for message staleness)

Returns

True if connected, false otherwise

send_stop_all_command()

bool staubli_robot_driver::RobotDriver::send_stop_all_command

(

)

Send a STOP command to the robot (halts motion and sets IOs to zero)

Returns

True if command was sent successfully, false otherwise

send_robot_command()

bool staubli_robot_driver::RobotDriver::send_robot_command

(

const RobotCommandMessage &

command

)

Send a command to the robot.

Parameters

command

Command to send

Returns

True if command was valid and sent successfully, false otherwise

read_robot_state()

bool staubli_robot_driver::RobotDriver::read_robot_state

(

RobotStateMessage &

state

)

Get the current (latest) robot state.

Note

This should be called at a regular interval (e.g. in a control loop). The method will update the internal state while checking for staleness. If the state is stale, this method will return false. In that case, the user should take appropriate action (e.g. stop the robot) based on previous readings only.

Parameters

[out]

state

Robot state

Returns

True if state was successfully retrieved, false otherwise

read_diagnostic_data()

bool staubli_robot_driver::RobotDriver::read_diagnostic_data

(

DiagnosticDataMessage &

data

)

Get the latest diagnostic data, see update_robot_state() for notes.

Parameters

[out]

data

Diagnostic data

Returns

True if data was successfully retrieved, false otherwise

set_state_staleness_timeout()

void staubli_robot_driver::RobotDriver::set_state_staleness_timeout

(

rclcpp::Duration

staleness_timeout = rclcpp::Duration(0, 1e8)

)

Set the staleness timeout after which the robot state is considered stale.

Parameters

staleness_timeout

Timeout for staleness check; default is 100 ms.

Returns

True if timeout was set successfully, false otherwise

set_diagnostic_staleness_timeout()

void staubli_robot_driver::RobotDriver::set_diagnostic_staleness_timeout

(

rclcpp::Duration

staleness_timeout = rclcpp::Duration(0, 1e8)

)

Set the staleness timeout after which the diagnostic data is considered stale.

Parameters

staleness_timeout

Timeout for staleness check; default is 100 ms.

Returns

True if timeout was set successfully, false otherwise

get_current_message_sequence()

size_t staubli_robot_driver::RobotDriver::get_current_message_sequence ( ) const

inline

Get the sequence ID of the last valid received robot state message.

Returns

Sequence ID of the last valid robot state message

reset_data()

void staubli_robot_driver::RobotDriver::reset_data ( )

protected

is_state_msg_valid()

bool staubli_robot_driver::RobotDriver::is_state_msg_valid ( ) const

protected

is_diagnostic_msg_valid()

bool staubli_robot_driver::RobotDriver::is_diagnostic_msg_valid ( ) const

protected

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The documentation for this class was generated from the following file:

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/robot_driver.hpp