Conditions make it possible to monitor the robot control and trigger specific reactions (termination of a running motion) if definable limits are exceeded or not reached
Table of Contents
Reset all conditions
| Default service name | Message type (srv) |
|---|---|
/iiwa/reset_conditions |
std_srvs/Empty |
.. tabs::
.. group-tab:: ROS
.. tabs::
.. group-tab:: Command-line tool (rosservice)
.. literalinclude:: ../snippets/ros_conditions.txt
:language: bash
:start-after: [start-command-line-reset_conditions-1]
:end-before: [end-command-line-reset_conditions-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros_conditions.txt
:language: python
:start-after: [start-python-reset_conditions-1]
:end-before: [end-python-reset_conditions-1]
.. group-tab:: ROS2
.. tabs::
.. group-tab:: Command-line tool (ros2 service)
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: bash
:start-after: [start-command-line-reset_conditions-1]
:end-before: [end-command-line-reset_conditions-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: python
:start-after: [start-python-reset_conditions-1]
:end-before: [end-python-reset_conditions-1]
Define the force condition (threshold and tolerance) for each Cartesian axis
| Default service name | Message type (srv) | Units |
|---|---|---|
/iiwa/set_force_condition |
libiiwa_msgs/SetArray | # TODO |
Note
The current implementation links each defined condition by a logic OR operation
# TODO
.. tabs::
.. group-tab:: ROS
.. tabs::
.. group-tab:: Command-line tool (rosservice)
.. literalinclude:: ../snippets/ros_conditions.txt
:language: bash
:start-after: [start-command-line-set_force_condition-1]
:end-before: [end-command-line-set_force_condition-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros_conditions.txt
:language: python
:start-after: [start-python-set_force_condition-1]
:end-before: [end-python-set_force_condition-1]
.. group-tab:: ROS2
.. tabs::
.. group-tab:: Command-line tool (ros2 service)
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: bash
:start-after: [start-command-line-set_force_condition-1]
:end-before: [end-command-line-set_force_condition-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: python
:start-after: [start-python-set_force_condition-1]
:end-before: [end-python-set_force_condition-1]
Define the joint torque condition (lower and upper limits) for each joint axis
| Default service name | Message type (srv) | Units |
|---|---|---|
/iiwa/set_joint_torque_condition |
libiiwa_msgs/SetArray | # TODO |
Note
The current implementation links each defined condition by a logic OR operation
# TODO
.. tabs::
.. group-tab:: ROS
.. tabs::
.. group-tab:: Command-line tool (rosservice)
.. literalinclude:: ../snippets/ros_conditions.txt
:language: bash
:start-after: [start-command-line-set_joint_torque_condition-1]
:end-before: [end-command-line-set_joint_torque_condition-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros_conditions.txt
:language: python
:start-after: [start-python-set_joint_torque_condition-1]
:end-before: [end-python-set_joint_torque_condition-1]
.. group-tab:: ROS2
.. tabs::
.. group-tab:: Command-line tool (ros2 service)
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: bash
:start-after: [start-command-line-set_joint_torque_condition-1]
:end-before: [end-command-line-set_joint_torque_condition-1]
.. group-tab:: Python
.. literalinclude:: ../snippets/ros2_conditions.txt
:language: python
:start-after: [start-python-set_joint_torque_condition-1]
:end-before: [end-python-set_joint_torque_condition-1]