Conveyor

HRIM defines a gripper as
A mechanical apparatus for moving articles or bulk material from one place to another place.

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all the conveyors will contain a topic referring to movement.

A conveyor can be builded with more than one band, each band can be configured with different velocity, this information will be provided by SpecsConveyor.msg. Depending the number bands, the service regarding to the velocity of each one will increase. For example, if the canveyor has 2 bands it will provide 2 topics hrim_compositeconveyor/goal_1 and hrim_compositeconveyor/goal_2 using both of them the same topic GoalConveyor.msg, this is something that the manufacturer will have to modify. The numbers will respect the direction that the conveyor follow (identification number), in case there are two bands in parallel the manufacturer will have to specify in the datasheet the number for each using a schema.

HRIM component model: Conveyor
/hrim_composite_conveyor_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_composite_conveyor_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_composite_conveyor_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_composite_conveyor_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_composite_conveyor_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_composite_conveyor_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_composite_conveyor_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of,3D model of the HRIM component.
/hrim_composite_conveyor_<instance_id>/specs hrim_composite_conveyor_msgs/msg/SpecsConveyor.msg topic (Sub) M Conveyor characteristics.
/hrim_composite_conveyor_<instance_id>/goal hrim_composite_conveyor_msgs/mag/GoalConveyor.msg topic (Sub) M Band 1, goal linear velocity
/hrim_composite_conveyor_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Sub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.