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Note: This tutorial assumes that you have completed the previous tutorials: http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

How to read or write IO while controlling robot with MoveIt!

Description: Gives instructions for reading/writing I/O while controlling robot with MoveIt!.

Keywords: DENSO robot, I/O

Tutorial Level: INTERMEDIATE

Overview

This tutorial describes how to read/write I/O while controlling robot with MoveIt!.

Parameters for reading/writing I/O

To read/write I/O while controlling robot with MoveIt!, execute the following command.

roslaunch denso_robot_bringup vs060_bringup.launch sim:=false ip_address:=192.168.0.1 send_format:=288 recv_format:=290

If your launch file does not have send_format and recv_format parameters, you can execute the following command.

roslaunch denso_robot_bringup denso_robot_bringup.launch robot_name:=vs060 sim:=false ip_address:=192.168.0.1 send_format:=288 recv_format:=290

Send format

The send_format parameter can be used for write Hand I/O, Mini I/O or User I/O. Following table shows the detail of the send format parameter.

Value

I/O

0

None

32

Hand I/O (Port 64 to 71)

256

Mini I/O (Port 16 to 31)

288

Hand I/O and Mini I/O

512

User I/O (Port 128 or after)

544

Hand I/O and User I/O

Receive format

The recv_format parameter can be used for read Hand I/O, Mini I/O or User I/O. Following table shows the detail of the receive format parameter.

Value

I/O

2

None

34

Hand I/O (Port 48 to 55 and 64 to 71)

258

Mini I/O (Port 0 to 31)

290

Hand I/O and Mini I/O

514

User I/O (Port 128 or after)

546

Hand I/O and User I/O

770

Mini I/O and User I/O

Topics for reading/writing I/O

If you set send_format and recv_format parameters, some subscribers and publishers are launched.

Writing Mini I/O

If you set 256 or 288 for send_format, a subscriber named "${robot_name}/Write_MiniIO" is launched.
The subscriber's format is std_msgs/Int32.
The least significant bit means I/O port 0 and the most significant bit means port 31.

Reading Mini I/O

If you set 258, 290 or 770 for recv_format, a publisher named "${robot_name}/Read_MiniIO" is launched. The publisher's format is std_msgs/Int32. The least significant bit means I/O port 0 and the most significant bit means port 31.

Writing Hand I/O

If you set 32, 288 or 544 for send_format, a subscriber named "${robot_name}/Write_HandIO" is launched.
The subscriber's format is std_msgs/Int32.
The least significant bit means I/O port 48 and the most significant bit means port 79.

Reading Hand I/O

If you set 34, 290 or 546 for recv_format, a publisher named "${robot_name}/Read_HandIO" is launched. The publisher's format is std_msgs/Int32. The least significant bit means I/O port 48 and the most significant bit means port 79.

Writing User I/O

If you set 512 or 544 for send_format, a subscriber named "${robot_name}/Write_SendUserIO" is launched.
The subscriber's format is denso_robot_core/UserIO.
The offset parameter means the beginning of user I/O ports to write. It has to be greater than 127, and be multiple of 8.
The size parameter means the length of the value array.
The value array means the I/O states to write. The least significant bit of the first element means I/O port ${offset}+0, and the most significant bit means port ${offset}+7, and so on.

Reading User I/O

If you set 514, 546 or 770 for recv_format, a subscriber named "${robot_name}/Write_RecvUserIO" and a publisher named "${robot_name}/Read_RecvUserIO" are launched.
The subscriber's and publisher's format are denso_robot_core/UserIO.
The offset parameter means the beginning of user I/O ports to read. It has to be greater than 127, and be multiple of 8.
The size parameter means the number of I/O ports to read. It has to be the value dividing the number of I/O ports to read by 8. For examle, if you want to read 8 I/O ports, you should set 1 as this parameter.
The value array does not use in the "Write_RecvUserIO". In the "Read_RecvUserIO", it means the I/O states to have had read. The least significant bit of the first element means I/O port ${offset}+0, and the most significant bit means port ${offset}+7, and so on.


2019-10-19 12:38