Custom Message Types¶

`rby1_msgs/JointCommand` (used inside `Rby1JointCommand` goals and stream commands)¶

Field	Type	Default	Description
`joint_names`	`string[]`	—	Optional joint name list
`position`	`float64[]`	—	Target joint positions (rad)
`use_impedance`	`bool`	`false`	Use joint impedance instead of position control
`use_group_joint`	`bool`	`false`	Enable group joint movement logic if True
`minimum_time`	`float64`	`2.0`	Minimum execution time (s)
`control_hold_time`	`float64`	`0.1`	Duration to hold position control after reaching target (s)
`velocity_limit`	`float64`	`4.7`	Joint velocity limit (rad/s)
`acceleration_limit`	`float64`	`1.0`	Acceleration scaling
`stiffness`	`float64[]`	—	Impedance stiffness coefficients
`damping_ratio`	`float64`	`1.0`	Impedance damping ratio
`torque_limit`	`float64`	`10.0`	Impedance torque safety limit (N·m)

`rby1_msgs/CartesianCommand` (used inside `Rby1CartesianCommand` goals and stream commands)¶

Field	Type	Default	Description
`transform`	`geometry_msgs/Transform`	—	Target Cartesian transformation (pose) command
`ref_link`	`string`	—	Reference coordinate frame link name
`target_link`	`string`	—	Target coordinate frame link name (e.g. tool flange or end effector link)
`use_impedance`	`bool`	`false`	Use Cartesian impedance instead of position control
`minimum_time`	`float64`	`2.0`	Minimum execution time (s)
`control_hold_time`	`float64`	`0.1`	Duration to hold position control after reaching target (s)
`linear_velocity_limit`	`float64`	`1.5`	Limit for linear velocity of the end-effector (m/s)
`angular_velocity_limit`	`float64`	`4.7`	Limit for angular velocity of the end-effector (rad/s)
`acceleration_limit_scaling`	`float64`	`1.0`	Scaling factor for acceleration limits `[0.0, 1.0]`
`translation_weight`	`float64[]`	—	Weights for linear translation degrees of freedom `[x, y, z]` during QP optimization
`rotation_weight`	`float64[]`	—	Weights for rotation degrees of freedom during QP optimization
`add_joint_position_target`	`bool`	`false`	Flag to specify an additional single joint target along with the Cartesian pose
`add_joint_name`	`string`	—	Name of the additional joint to move
`add_joint_value`	`float64`	—	Target position value for the additional joint (rad or meters)

`rby1_msgs/StreamJointCommand`¶

Field	Type	Description
`torso`	`rby1_msgs/JointCommand`	Joint command for the torso
`right_arm`	`rby1_msgs/JointCommand`	Joint command for the right arm
`left_arm`	`rby1_msgs/JointCommand`	Joint command for the left arm
`head`	`rby1_msgs/JointCommand`	Joint command for the head

`rby1_msgs/StreamCartesianCommand`¶

Field	Type	Description
`torso`	`rby1_msgs/CartesianCommand`	Cartesian command for the torso
`right_arm`	`rby1_msgs/CartesianCommand`	Cartesian command for the right arm
`left_arm`	`rby1_msgs/CartesianCommand`	Cartesian command for the left arm

`rby1_msgs/RobotState`¶

Field	Type	Description
`control_manager_state`	`int32`	Current Control Manager state (see constants above)
`brake_state`	`BrakeState`	Brake engagement per joint (left_arm[], right_arm[], torso[], head[])
`tool_flange_state`	`bool[]`	Tool flange connection status `[left, right]`
`emo_state`	`bool`	Emergency Stop pressed status
`center_of_mass`	`float64[3]`	Calculated CoM position `[x, y, z]` in meters
`robot_stream_state`	`bool`	`true` if the persistent command stream is currently open, `false` if closed
`collision`	`bool`	`true` if a collision is detected, `false` otherwise

Control Manager States¶

The RobotState.control_manager_state field (and the robot_state topic) uses the following integer constants, also accessible as RobotState.STATE_*:

Value	Constant	Description
`0`	`STATE_NONE`	Driver not initialized or disconnected
`1`	`STATE_IDLE`	Control Manager is disabled (IDLE)
`2`	`STATE_ENABLE`	Control Manager is active and holding position
`3`	`STATE_EXECUTING`	A motion command is currently being executed
`4`	`STATE_MAJOR_FAULT`	Unrecoverable hardware fault — requires reset
`5`	`STATE_MINOR_FAULT`	Recoverable fault — driver auto-resets by default

`rby1_msgs/ToolFlangeState`¶

Field	Type	Description
`ft_force`	`float64[3]`	Force `[Fx, Fy, Fz]` in Newtons
`ft_torque`	`float64[3]`	Torque `[Tx, Ty, Tz]` in N·m
`gyro`	`float64[3]`	Gyroscope `[roll, pitch, yaw]` in rad/s
`acceleration`	`float64[3]`	Accelerometer `[ax, ay, az]` in m/s²
`switch_a`	`bool`	Physical switch A state
`output_voltage`	`int32`	Output voltage in millivolts
`digital_input_a`	`bool`	State of general-purpose digital input A
`digital_input_b`	`bool`	State of general-purpose digital input B
`digital_output_a`	`bool`	State of general-purpose digital output A
`digital_output_b`	`bool`	State of general-purpose digital output B