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SetSGCommand.srv
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SetSGCommand.srv
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#-------------------------------------------------------------------------------
# Description:
# The purpose of this service definition, is to define a way to set the values
# of predefined RAPID variables for commanding a SmartGripper tool.
#
# Note:
# These variables are defined in each RAPID motion task, in ABB robot
# controller systems, that are using the RobotWare "StateMachine Add-In"
# together with a SmartGripper tool.
#-------------------------------------------------------------------------------
#-------------------------------------------------------------------------------
# Enumerations
#-------------------------------------------------------------------------------
# Supported "StateMachine Add-In" SmartGripper commands:
#
# Note: These enumeration values differ from the RAPID implementation
# values to avoid conflict with default values in ROS messages.
uint8 SG_COMMAND_UNKNOWN = 1
uint8 SG_COMMAND_NONE = 2
uint8 SG_COMMAND_INITIALIZE = 3
uint8 SG_COMMAND_CALIBRATE = 4
uint8 SG_COMMAND_MOVE_TO = 5
uint8 SG_COMMAND_GRIP_IN = 6
uint8 SG_COMMAND_GRIP_OUT = 7
uint8 SG_COMMAND_BLOW_ON_1 = 8
uint8 SG_COMMAND_BLOW_ON_2 = 9
uint8 SG_COMMAND_BLOW_OFF_1 = 10
uint8 SG_COMMAND_BLOW_OFF_2 = 11
uint8 SG_COMMAND_VACUUM_ON_1 = 12
uint8 SG_COMMAND_VACUUM_ON_2 = 13
uint8 SG_COMMAND_VACUUM_OFF_1 = 14
uint8 SG_COMMAND_VACUUM_OFF_2 = 15
#-------------------------------------------------------------------------------
# Service request fields
#-------------------------------------------------------------------------------
# The RAPID task that runs the "StateMachine Add-In" instance.
string task
# Desired SmartGripper command.
uint8 command
# Desired target position [mm] (only used for the 'SG_COMMAND_MOVE_TO' command).
float32 target_position
---
#-------------------------------------------------------------------------------
# Service response fields
#-------------------------------------------------------------------------------
# Service success/failure indicator.
# Refer to 'abb_robot_msgs/ServiceResponses' for defined error codes.
uint16 result_code
# Status message (empty if service succeeded).
string message