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Topics

This section describes the various ROS2 Topics used in the Doosan Robotics package, detailing the structure of their messages.

RobotState 

Provides the current state of the robot.

dsr_msgs2/msg/RobotState.msg

# timestamp at the data of data acquisition
float64                      time_stamp
# actual joint position from incremental encoder at motor side(used for control) [deg]
float64[6]                   actual_joint_position
# actual joint position from absolute encoder at link side (used for exact link position) [deg]
float64[6]                   actual_joint_position_abs
# actual joint velocity from incremental encoder at motor side [deg/s]
float64[6]                   actual_joint_velocity
# actual joint velocity from absolute encoder at link side [deg/s]
float64[6]                   actual_joint_velocity_abs
# actual robot tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   actual_tcp_position
# actual robot tcp velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   actual_tcp_velocity
# actual robot flange position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   actual_flange_position
# robot flange velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   actual_flange_velocity
# actual motor torque applying gear ratio = gear_ratio * current2torque_constant * motor current [Nm]
float64[6]                   actual_motor_torque
# estimated joint torque by robot controller [Nm]
float64[6]                   actual_joint_torque
# calibrated joint torque sensor data [Nm]
float64[6]                   raw_joint_torque
# calibrated force torque sensor data w.r.t. flange coordinates [N, Nm]
float64[6]                   raw_force_torque
# estimated external joint torque [Nm]
float64[6]                   external_joint_torque
# estimated tcp force w.r.t. base coordinates [N, Nm]
float64[6]                   external_tcp_force
# target joint position [deg]
float64[6]                   target_joint_position
# target joint velocity [deg/s]
float64[6]                   target_joint_velocity
# target joint acceleration [deg/s^2]
float64[6]                   target_joint_acceleration
# target motor torque [Nm]
float64[6]                   target_motor_torque
# target tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   target_tcp_position
# target tcp velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   target_tcp_velocity
# jacobian matrix=J(q) w.r.t. base coordinates
std_msgs/Float64MultiArray[] jacobian_matrix
# gravity torque=g(q) [Nm]
float64[6]                   gravity_torque
# coriolis matrix=C(q,q_dot)  [6][6]
std_msgs/Float64MultiArray[] coriolis_matrix
# mass matrix=M(q) [6][6]
std_msgs/Float64MultiArray[] mass_matrix
# robot configuration
uint16                       solution_space
# minimum singular value
float64                      singularity
# current operation speed rate(1~100 %)
float64                      operation_speed_rate
# joint temperature(celsius)
float64[6]                   joint_temperature
# controller digital input(16 channel)
uint16                       controller_digital_input
# controller digital output(16 channel)
uint16                       controller_digital_output
# controller analog input type(2 channel)
uint8[2]                      controller_analog_input_type
# controller analog input(2 channel)
float64[2]                   controller_analog_input
# controller analog output type(2 channel)
uint8[2]                     controller_analog_output_type
# controller analog output(2 channel)
float64[2]                   controller_analog_output
# flange digital input(A-Series: 2 channel, M/H-Series: 6 channel)
uint8                        flange_digital_input
# flange digital output(A-Series: 2 channel, M/H-Series: 6 channel)
uint8                        flange_digital_output
# flange analog input(A-Series: 2 channel, M/H-Series: 4 channel)
float64[4]                   flange_analog_input
# strobe count(increased by 1 when detecting setting edge)
uint8[2]                     external_encoder_strobe_count
# external encoder count
uint16[2]                    external_encoder_count
# final goal joint position (reserved)
float64[6]                   goal_joint_position
# final goal tcp position (reserved)
float64[6]                   goal_tcp_position
# ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), ROBOT_MODE_MEASURE(2)
uint8                        robot_mode
# STATE_INITIALIZING(0), STATE_STANDBY(1), STATE_MOVING(2), STATE_SAFE_OFF(3), STATE_TEACHING(4), STATE_SAFE_STOP(5), STATE_EMERGENCY_STOP, STATE_HOMMING, STATE_RECOVERY, STATE_SAFE_STOP2, STATE_SAFE_OFF2,
uint8                        robot_state
# position control mode, torque mode
uint16                       control_mode
# Reserved
uint8[256]                   reserved

RobotStop 

Provides information about the robot’s stop mode.

dsr_msgs2/msg/RobotStop.msg

#____________________________________________________________________________________________
# [ robot stop mode ]
# 0 : STOP_TYPE_QUICK_STO
# 1 : STOP_TYPE_QUICK
# 2 : STOP_TYPE_SLOW
# 3 : STOP_TYPE_HOLD = STOP_TYPE_EMERGENCY
#
#____________________________________________________________________________________________

int32 stop_mode

RobotError 

Provides information about robot errors.

dsr_msgs2/msg/RobotError.msg

#____________________________________________________________________________________________
# [ robot error msg ]
#____________________________________________________________________________________________

int32    level   # INFO =1, WARN =2, ERROR =3
int32    group   # SYSTEM =1, MOTION =2, TP =3, INVERTER =4, SAFETY_CONTROLLER =5
int32    code    # error code
string    msg1    # error msg 1
string    msg2    # error msg 2
string    msg3    # error msg 3

LogAlarm 

Provides log information for alarms.

dsr_msgs2/msg/LogAlarm.msg

#____________________________________________________________________________________________
# log of alarm
#____________________________________________________________________________________________

int32         level
int32         group
int32         index
string[3]     param

ModbusState 

Provides the state of Modbus signals.

dsr_msgs2/msg/ModbusState.msg

#____________________________________________________________________________________________
#Custom msg for RobotState.msg -- MAX_SIZE = 100
#____________________________________________________________________________________________

string  modbus_symbol    # Modbus Signal Name
int32   modbus_value     # Modbus Register Value (Unsigned : 0 ~ 65535)

JogMultiAxis 

Provides information for multi-axis jogging.

dsr_msgs2/msg/JogMultiAxis.msg

#____________________________________________________________________________________________
# multi jog
# multi jog speed = (250mm/s x 1.73) x unit vecter x speed [%]
#____________________________________________________________________________________________

float64[6]  jog_axis          # unit vecter of Task space [Tx, Ty, Tz, Rx, Ry, Rz] : -1.0 ~ +1.0
int8        move_reference    # 0 : MOVE_REFERENCE_BASE, 1 : MOVE_REFERENCE_TOOL, 2 : MOVE_REFERENCE_WORLD
float64     speed             # jog speed [%]

ServojRtStream 

Provides real-time stream data for Servoj.

dsr_msgs2/msg/ServojRtStream.msg

#____________________________________________________________________________________________
# servoj_rt
#
#____________________________________________________________________________________________

float64[6] pos               # position
float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time

ServojStream 

Provides stream data for Servoj.

dsr_msgs2/msg/ServojStream.msg

#____________________________________________________________________________________________
# servoj
#
#____________________________________________________________________________________________

float64[6] pos               # position
float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time
int8       mode              # servoj mode; 0:DR_SERVO_OVERRIDE, 1:DR_SERVO_QUEUE

ServolRtStream 

Provides real-time stream data for Servol.

dsr_msgs2/msg/ServolRtStream.msg

#____________________________________________________________________________________________
# servol_rt
#
#____________________________________________________________________________________________

float64[6] pos               # position
float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time

ServolStream 

Provides stream data for Servol.

dsr_msgs2/msg/ServolStream.msg

#____________________________________________________________________________________________
# servol
#
#____________________________________________________________________________________________

float64[6] pos               # position
float64[2] vel               # velocity
float64[2] acc               # acceleration
float64    time              # time

SpeedjRtStream 

Provides real-time stream data for Speedj.

dsr_msgs2/msg/SpeedjRtStream.msg

#____________________________________________________________________________________________
# speedj_rt
#
#____________________________________________________________________________________________

float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time

SpeedjStream 

Provides stream data for Speedj.

dsr_msgs2/msg/SpeedjStream.msg

#____________________________________________________________________________________________
# speedj
#
#____________________________________________________________________________________________

float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time

SpeedlRtStream 

Provides real-time stream data for Speedl.

dsr_msgs2/msg/SpeedlRtStream.msg

#____________________________________________________________________________________________
# speedl_rt
#
#____________________________________________________________________________________________

float64[6] vel               # velocity
float64[6] acc               # acceleration
float64    time              # time

SpeedlStream 

Provides stream data for Speedl.

dsr_msgs2/msg/SpeedlStream.msg

#____________________________________________________________________________________________
# speedl
#
#____________________________________________________________________________________________

float64[6] pos               # position
float64[2] vel               # velocity
float64[2] acc               # acceleration
float64    time              # time

TorqueRtStream 

Provides real-time stream data for Torque.

dsr_msgs2/msg/TorqueRtStream.msg

#____________________________________________________________________________________________
# torque_rt
#
#____________________________________________________________________________________________

float64[6] tor               # motor torque
float64    time              # time

AlterMotionStream 

Provides stream data for AlterMotion.

dsr_msgs2/msg/AlterMotionStream.msg

#____________________________________________________________________________________________
# alter_motion
#
#____________________________________________________________________________________________

float64[6] pos               # position

RobotStateRt 

Provides real-time robot state data.

dsr_msgs2/msg/RobotStateRt.msg

# timestamp at the data of data acquisition
float64                      time_stamp
# actual joint position from incremental encoder at motor side(used for control) [deg]
float64[6]                   actual_joint_position
# actual joint position from absolute encoder at link side (used for exact link position) [deg]
float64[6]                   actual_joint_position_abs
# actual joint velocity from incremental encoder at motor side [deg/s]
float64[6]                   actual_joint_velocity
# actual joint velocity from absolute encoder at link side [deg/s]
float64[6]                   actual_joint_velocity_abs
# actual robot tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   actual_tcp_position
# actual robot tcp velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   actual_tcp_velocity
# actual robot flange position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   actual_flange_position
# robot flange velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   actual_flange_velocity
# actual motor torque applying gear ratio = gear_ratio * current2torque_constant * motor current [Nm]
float64[6]                   actual_motor_torque
# estimated joint torque by robot controller [Nm]
float64[6]                   actual_joint_torque
# calibrated joint torque sensor data [Nm]
float64[6]                   raw_joint_torque
# calibrated force torque sensor data w.r.t. flange coordinates [N, Nm]
float64[6]                   raw_force_torque
# estimated external joint torque [Nm]
float64[6]                   external_joint_torque
# estimated tcp force w.r.t. base coordinates [N, Nm]
float64[6]                   external_tcp_force
# target joint position [deg]
float64[6]                   target_joint_position
# target joint velocity [deg/s]
float64[6]                   target_joint_velocity
# target joint acceleration [deg/s^2]
float64[6]                   target_joint_acceleration
# target motor torque [Nm]
float64[6]                   target_motor_torque
# target tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
float64[6]                   target_tcp_position
# target tcp velocity w.r.t. base coordinates [mm, deg/s]
float64[6]                   target_tcp_velocity
# jacobian matrix=J(q) w.r.t. base coordinates
std_msgs/Float64MultiArray[] jacobian_matrix
# gravity torque=g(q) [Nm]
float64[6]                   gravity_torque
# coriolis matrix=C(q,q_dot)  [6][6]
std_msgs/Float64MultiArray[] coriolis_matrix
# mass matrix=M(q) [6][6]
std_msgs/Float64MultiArray[] mass_matrix
# robot configuration
uint16                       solution_space
# minimum singular value
float64                      singularity
# current operation speed rate(1~100 %)
float64                      operation_speed_rate
# joint temperature(celsius)
float64[6]                   joint_temperature
# controller digital input(16 channel)
uint16                       controller_digital_input
# controller digital output(16 channel)
uint16                       controller_digital_output
# controller analog input type(2 channel)
uint8[2]                      controller_analog_input_type
# controller analog input(2 channel)
float64[2]                   controller_analog_input
# controller analog output type(2 channel)
uint8[2]                     controller_analog_output_type
# controller analog output(2 channel)
float64[2]                   controller_analog_output
# flange digital input(A-Series: 2 channel, M/H-Series: 6 channel)
uint8                        flange_digital_input
# flange digital output(A-Series: 2 channel, M/H-Series: 6 channel)
uint8                        flange_digital_output
# flange analog input(A-Series: 2 channel, M/H-Series: 4 channel)
float64[4]                   flange_analog_input
# strobe count(increased by 1 when detecting setting edge)
uint8[2]                     external_encoder_strobe_count
# external encoder count
uint16[2]                    external_encoder_count
# final goal joint position (reserved)
float64[6]                   goal_joint_position
# final goal tcp position (reserved)
float64[6]                   goal_tcp_position
# ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), ROBOT_MODE_MEASURE(2)
uint8                        robot_mode
# STATE_INITIALIZING(0), STATE_STANDBY(1), STATE_MOVING(2), STATE_SAFE_OFF(3), STATE_TEACHING(4), STATE_SAFE_STOP(5), STATE_EMERGENCY_STOP, STATE_HOMMING, STATE_RECOVERY, STATE_SAFE_STOP2, STATE_SAFE_OFF2,
uint8                        robot_state
# position control mode, torque mode
uint16                       control_mode
# Reserved
uint8[256]                   reserved

RobotDisconnection 

Event driven when the robot connection losts.

dsr_msgs2/msg/RobotDisconnection.msg

### Event driven when the robot connection losts.