Scara 1 Interfaces

This repository contains all necessary Scara 1 intefaces to run the Scara 1 Topics, Services and Actions.

For further informations check our documentation:

Getting Started

1. Create a ROS 2 Workspace

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src

2. Clone this repo
3. Build the interfaces

cd ~/ros2_ws && colcon build --simlink-install

4. Source

source install/setup.bash

Available Services and corresponding messages

Name	Path	Type	Description
Close Gripper	/olive/olixBot/scara1/id_001/close_gripper	std_srvs/srv/Trigger	Closes the robot gripper
Open Gripper	/olive/olixBot/scara1/id_001/open_gripper	std_srvs/srv/Trigger	Opens the robot gripper
Start Teaching	/olive/olixBot/scara1/id_001/start_teaching	n1_interface/srv/Teaching	Puts the robot into teaching mode
Stop Teaching	/olive/olixBot/scara1/id_001/stop_teaching	std_srvs/srv/Trigger	Exits teaching mode
Run Teaching	/olive/olixBot/scara1/id_001/run_teached_movement	n1_interface/srv/Teaching	Executes the recorded teaching sequence
Delete Movement	/olive/olixBot/scara1/id_001/delete_movement	n1_interface/srv/Teaching	Deletes a stored taught movement
List Taught Movements	/olive/olixBot/scara1/id_001/list_all_teached_movements	n1_interface/srv/ListTaughtMovements	Lists all saved taught movements
MoveJ (Joint Angles)	/olive/olixBot/scara1/id_001/new_movej_angle	n1_interface/srv/NewMovejAngle	Creates a new joint-space movement using joint angles
MoveJ (XYZ + LR)	/olive/olixBot/scara1/id_001/new_movej_xyz_lr	n1_interface/srv/NewMovejXYZ	Creates a new joint-space movement using Cartesian XYZ and left/right configuration