Work in progress
There are many different types of robotic arm categorized by their mechanical structure:
Although there are different types, they all have the same objective, so, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all the arms will contain a topic referring to reach a point regarding its own origin.
|HRIM component model: Arm|
|/hrim_composite_arm_<instance_id>/id||hrim_generic_msgs/msg/ID.msg||topic (Sub)||M||Component identification.|
|/hrim_composite_arm_<instance_id>/status||hrim_generic_msgs/msg/Status.msg||topic (Sub)||M||How the module is working.|
|/hrim_composite_arm_<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_arm_<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_arm_<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_arm_<instance_id>/module_3d||hrim_generic_msgs/msg/Simulation3D.msg||topic (Sub)||M||Ask for the 3D model of the HRIM component.|
|/hrim_composite_arm_<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_arm_<instance_id>/specs||hrim_composite_arm_msgs/msg/SpecsArm.msg||topic (Sub)||M||Arm robot general characteristics.|
|/hrim_composite_arm_<instance_id>/joint_states||hrim_composite_arm_msgs/msg/StateJoints.msg||topic (Sub)||M||State of the joints|
|/hrim_composite_arm_<instance_id>/joint_movement||hrim_composite_arm_srvs/srv/GoalJointMovement.srv||service||M||Move the joints.|
|/hrim_composite_arm_<instance_id>/joint_trajectory||hrim_composite_arm_srvs/srv/GoalJointTrajectory.srv||service||M||Create a joint trajectory|
|/hrim_composite_arm_<instance_id>/rc||hrim_ui_rc_msgs/msg/RC.msg||topic (Sub)||O||Conect to remote control.|
|/hrim_composite_arm_<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.|
|arm_name||string||-||M||The name of the arm.|
|joint_names||string||-||M||Names of the joint of the arm.|
|x_angle_y_direction||float64||rad||M||Related to fix the origin
Turn the X axis in the direction where the Y axis is.
|x_angle_z_direction||float64||rad||M||Related to fix the origin
Turn the X axis in the direction where the Z axis is.
|y_angle_x_direction||float64||rad||M||Related to fix the origin
Turn the Y axis in the direction where the X axis is.
|y_angle_z_direction||float64||rad||M||Related to fix the origin
Turn the Y axis in the direction where the Z axis is.
|z_direction||bool||[true/false]||M||Related to fix the origin
True: the z-axis direction is okey/ False: reverse direction.
|x_position||double||m||M||Related to fix the origin
X axis position according to the marked origin
|y_position||double||m||M||Related to fix the origin
Y axis position according to the marked origin
|z_position||double||m||M||Related to fix the origin
Z axis position according to the marked origin
|rc_max_velocity||double||rad/s||O||Related to RC.msg
Joistik maximum angular velocity value.
NOTE: Mandatory if RC.msg is added.
|rc_max_yaw||double||rad/s||O||Related to RC.msg
Joistik maximum vehicle's turning angle.
NOTE: Mandatory if RC.msg is added.
NOTE: with tha parameters related to fix the origin take into account that the first damage the following