staubli_robot_driver::RobotStateMessage Class Reference

Robot state message. More...

#include <messages.hpp>

Inheritance diagram for staubli_robot_driver::RobotStateMessage:

Collaboration diagram for staubli_robot_driver::RobotStateMessage:

Public Member Functions
	RobotStateMessage ()
	~RobotStateMessage ()=default
bool	serialize (uint8_t *buffer, size_t buffer_size) const override
	Serialize message to bytes.
bool	deserialize (uint8_t *buffer, size_t buffer_size) override
	Deserialize bytes to message.
size_t	get_serialized_size () const override
	Size of the entire message in bytes.
virtual bool	serialize (uint8_t *buffer, size_t buffer_size) const=0
	Serialize message to bytes.
bool	serialize (std::vector< uint8_t > &data) const
	Serialize message to vector.
virtual bool	deserialize (uint8_t *buffer, size_t buffer_size)=0
	Deserialize bytes to message.
bool	deserialize (std::vector< uint8_t > &data)
	Deserialize message from vector.
Public Member Functions inherited from staubli_robot_driver::Message
	Message ()=default
virtual	~Message ()=default
bool	serialize (std::vector< uint8_t > &data) const
	Serialize message to vector.
bool	deserialize (std::vector< uint8_t > &data)
	Deserialize message from vector.

Static Public Member Functions
static size_t	message_size ()
	Get the size of the message, static version.

Public Attributes
uint16_t	sequence_delay = 0
OperationMode	operation_mode = OperationMode::UNKNOWN
uint8_t	operation_mode_status = 100
CommandType	control_state = CommandType::INVALID
SafetyStatus	safety_status = SafetyStatus::NO_SAFETY_STOP
bool	power_on = false
bool	brakes_released = false
bool	motion_possible = false
bool	in_motion = false
bool	error_state = false
bool	estop_pressed = false
bool	has_joint_positions = false
bool	has_joint_velocities = false
bool	has_joint_torques = false
bool	has_ft_sensor = false
bool	has_digital_inputs = false
bool	has_analog_inputs = false
std::array< double, 6 >	joint_positions
std::array< double, 6 >	joint_velocities
std::array< double, 6 >	joint_torques
std::array< double, 6 >	ft_sensor
std::array< bool, 16 >	digital_inputs
std::array< double, 4 >	analog_inputs
Public Attributes inherited from staubli_robot_driver::Message
FrameHeader	header
	Message header.
rclcpp::Time	reception_timestamp = rclcpp::Time(0)
	Timestamp of the message reception (local clock)

Detailed Description

Robot state message.

This message contains the current state of the robot. It is sent periodically by the robot controller.

Payload format:

• Sequence delay (2 bytes, uint16_t)
• Control state (1 byte, uint8_t), see CommandType enum
• Safety status (1 byte, uint8_t), see SafetyStatus enum
• Operation mode (1 byte, uint8_t)
• Operation mode status (1 byte, uint8_t)
• Robot status flag array (2 bytes, uint16_t), see StatusFlag enum
• Valid fields flag array (2 bytes, uint16_t), see ValidFieldFlag enum
• Joint positions (6 * 4 bytes, float array)
• Joint velocities (6 * 4 bytes, float array)
• Joint torques (6 * 4 bytes, float array)
• F/T sensor readings (6 * 4 bytes, float array)
• Digital inputs (2 bytes, 16 bits) D_in_0 = bit 0 (LSB), D_in_15 = bit 15 (MSB) In the frame: [D_in_15, D_in_14, ..., D_in_0], over two bytes
• Analog inputs (4 * 4 bytes, float array) Each element represents the value of an analog input. In the frame: [A_in_1], [A_in_2], [A_in_3], [A_in_4]

Note

Array sizes are fixed for Staubli robots with 6 axes.

Arrays are serialized to the frame in order. For example, joint positions are serialized as [J1, J2, J3, J4, J5, J6]. The only exception is the digital inputs, which are serialized as a 16-bit integer with each bit

Joint positions, velocities, torque, and F/T sensor readings are only included if the corresponding valid field flag is set. Otherwise, they are filled with zeros. The same applies to digital and analog inputs. However, if the robot does not have these inputs, they are also filled with zeros.

Constructor & Destructor Documentation

RobotStateMessage()

staubli_robot_driver::RobotStateMessage::RobotStateMessage

(

)

~RobotStateMessage()

staubli_robot_driver::RobotStateMessage::~RobotStateMessage ( )

default

Member Function Documentation

serialize() [1/3]

bool staubli_robot_driver::RobotStateMessage::serialize ( uint8_t *  buffer, size_t  buffer_size  ) const

overridevirtual

Serialize message to bytes.

Implements staubli_robot_driver::Message.

deserialize() [1/3]

bool staubli_robot_driver::RobotStateMessage::deserialize ( uint8_t *  buffer, size_t  buffer_size  )

overridevirtual

Deserialize bytes to message.

Implements staubli_robot_driver::Message.

message_size()

static size_t staubli_robot_driver::RobotStateMessage::message_size ( )

static

Get the size of the message, static version.

get_serialized_size()

size_t staubli_robot_driver::RobotStateMessage::get_serialized_size ( ) const

inlineoverridevirtual

Size of the entire message in bytes.

Implements staubli_robot_driver::Message.

serialize() [2/3]

virtual bool staubli_robot_driver::Message::serialize ( uint8_t *  buffer, size_t  buffer_size  ) const

virtual

Serialize message to bytes.

Implements staubli_robot_driver::Message.

serialize() [3/3]

bool staubli_robot_driver::Message::serialize

(

std::vector< uint8_t > &

data

)

const

Serialize message to vector.

Warning

This method modifies the input vector by resizing it to the size of the message.

Parameters

data	Output data buffer. Capacity must be at least message.get_serialized_size().

Returns

true if serialization was successful, false otherwise

deserialize() [2/3]

virtual bool staubli_robot_driver::Message::deserialize ( uint8_t *  buffer, size_t  buffer_size  )

virtual

Deserialize bytes to message.

Implements staubli_robot_driver::Message.

deserialize() [3/3]

bool staubli_robot_driver::Message::deserialize

(

std::vector< uint8_t > &

data

)

Deserialize message from vector.

Warning

The input vector must be at least the size of the message.

Parameters

data	Input data buffer

Returns

true if deserialization was successful, false otherwise

Member Data Documentation

sequence_delay

uint16_t staubli_robot_driver::RobotStateMessage::sequence_delay = 0

operation_mode

OperationMode staubli_robot_driver::RobotStateMessage::operation_mode = OperationMode::UNKNOWN

operation_mode_status

uint8_t staubli_robot_driver::RobotStateMessage::operation_mode_status = 100

control_state

CommandType staubli_robot_driver::RobotStateMessage::control_state = CommandType::INVALID

safety_status

SafetyStatus staubli_robot_driver::RobotStateMessage::safety_status = SafetyStatus::NO_SAFETY_STOP

power_on

bool staubli_robot_driver::RobotStateMessage::power_on = false

brakes_released

bool staubli_robot_driver::RobotStateMessage::brakes_released = false

motion_possible

bool staubli_robot_driver::RobotStateMessage::motion_possible = false

in_motion

bool staubli_robot_driver::RobotStateMessage::in_motion = false

error_state

bool staubli_robot_driver::RobotStateMessage::error_state = false

estop_pressed

bool staubli_robot_driver::RobotStateMessage::estop_pressed = false

has_joint_positions

bool staubli_robot_driver::RobotStateMessage::has_joint_positions = false

has_joint_velocities

bool staubli_robot_driver::RobotStateMessage::has_joint_velocities = false

has_joint_torques

bool staubli_robot_driver::RobotStateMessage::has_joint_torques = false

has_ft_sensor

bool staubli_robot_driver::RobotStateMessage::has_ft_sensor = false

has_digital_inputs

bool staubli_robot_driver::RobotStateMessage::has_digital_inputs = false

has_analog_inputs

bool staubli_robot_driver::RobotStateMessage::has_analog_inputs = false

joint_positions

std::array<double, 6> staubli_robot_driver::RobotStateMessage::joint_positions

joint_velocities

std::array<double, 6> staubli_robot_driver::RobotStateMessage::joint_velocities

joint_torques

std::array<double, 6> staubli_robot_driver::RobotStateMessage::joint_torques

ft_sensor

std::array<double, 6> staubli_robot_driver::RobotStateMessage::ft_sensor

digital_inputs

std::array<bool, 16> staubli_robot_driver::RobotStateMessage::digital_inputs

analog_inputs

std::array<double, 4> staubli_robot_driver::RobotStateMessage::analog_inputs

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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/communication/messages.hpp