## 工具控制 注意：請在 studio 界面選擇已安裝的末端執行器后再使用調用接口控制末端執行器。 接口文件： gauss/gauss_python_api/src/gauss_python_api/gauss_api.py - 接口： gauss/commander/robot_action - ROS 接口類型： Action - 接口內容： RobotMoveAction 工具接口支持： gripper、air_vacuum、electromagnet、DCMOTOR、laser 等工具 - gripper 為電機控制 - electromagnet、DCMOTOR、laser、air_vacuum 為 digital_io 控制 end_effectors.yaml 文件列出了各種工具的參數等信息： ``` command_list: # Gripper open_gripper: 1 close_gripper: 2 # Vacuump pump pull_air_vacuum_pump: 10 push_air_vacuum_pump: 11 # Tools controlled by digital I/Os setup_digital_io: 20 activate_digital_io: 21 deactivate_digital_io: 22 tool_list: - name: "Gripper 1" type: "gripper" id: 11 available_commands: - open_gripper - close_gripper specs: open_position: 600 open_hold_torque: 404 close_position: 350 close_hold_torque: 404 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Gripper 2" type: "gripper" id: 12 available_commands: - open_gripper - close_gripper specs: open_position: 640 open_hold_torque: 128 close_position: 400 close_hold_torque: 128 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Gripper 3" type: "gripper" id: 13 available_commands: - open_gripper - close_gripper specs: open_position: 450 open_hold_torque: 128 close_position: 220 close_hold_torque: 160 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Electromagnet 1" type: "electromagnet" id: 30 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] - name: "Vacuum Pump 1" type: "vacuum_pump" id: 31 available_commands: - pull_air_vacuum_pump - push_air_vacuum_pump specs: [] - name: "Laser 1" type: "laser" id: 32 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] - name: "DC Motor 1" type: "dc_motor" id: 33 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] ``` 示例代碼參考`gauss/gauss_python_api/src/gauss_python_api/gauss_api.py`文件： ```python def open_gripper(self, gripper_id, speed): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(gripper_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['open_gripper'] goal.cmd.tool_cmd.gripper_open_speed = speed return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def close_gripper(self, gripper_id, speed): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(gripper_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['close_gripper'] goal.cmd.tool_cmd.gripper_close_speed = speed return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def pull_air_vacuum_pump(self, vacuum_pump_id): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['pull_air_vacuum_pump'] return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def push_air_vacuum_pump(self, vacuum_pump_id): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['push_air_vacuum_pump'] return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def setup_electromagnet(self, electromagnet_id, pin): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(electromagnet_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['setup_digital_io'] goal.cmd.tool_cmd.gpio = pin return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def activate_electromagnet(self, electromagnet_id, pin): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(electromagnet_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['activate_digital_io'] goal.cmd.tool_cmd.gpio = pin return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def deactivate_electromagnet(self, electromagnet_id, pin): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.TOOL goal.cmd.tool_cmd.tool_id = int(electromagnet_id) goal.cmd.tool_cmd.cmd_type = self.tool_command_list['deactivate_digital_io'] goal.cmd.tool_cmd.gpio = pin return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) ``` ## 可選接口（一） - gauss/tool_action 控制末端執行器執行動作 - gauss/change_tool 改變末端的工具 - /gauss/current_tool_id ## 可選接口（二） 注意：該接口為最底層的接口，一般只用于調試。 - gauss/tools/open_gripper - gauss/tools/close_gripper