.. command_reference/rostopic.rst

rostopic
========
------
Button
------
#. Plus(+) button
   ::

      $ rostopic echo -c /cobotta/plus_button

#. Minus(-) button
   ::

      $ rostopic echo -c /cobotta/minus_button

#. Function button
   ::

      $ rostopic echo -c /cobotta/function_button

------
MiniIO
------
+---------+---------+------------------+
|  data:  |   Hex   |   Description    |
+=========+=========+==================+
|       0 |  0x0000 | all bits are OFF |
+---------+---------+------------------+
|       1 |  0x0001 | bit0 is ON       |
+---------+---------+------------------+
|   32768 |  0x8000 | bit15 is ON      |
+---------+---------+------------------+
|   65535 |  0xffff | all bits are ON  |
+---------+---------+------------------+

#. Get the Mini IO data
   ::

      $ rostopic echo -c /cobotta/miniIO_input

#. Set the Mini IO data
   ::

      $ rostopic pub /cobotta/miniIO_output std_msgs/UInt16 "data: 0"

.. tip:: For more information about I/O allocation, please refer to COBOTTA user manual ID:7261.

-----------
Robot state
-----------
::

   $ rostopic echo -c /cobotta/robot_state

----------------
Safety MCU state
----------------
::

   $ rostopic echo -c /cobotta/safe_state

----------------
Parallel gripper
----------------

+-----------------------------+-------------+------------+
|     target_position[m]      |   speed[%]  |  effort[n] |
+=============================+=============+============+
|        0.0 - 0.015          | 1.0 - 100.0 | 6.0 - 20.0 |
+-----------------------------+-------------+------------+

.. attention:: ``target_position`` is changed on 1.2.2.
	       Before 1.2.1, ``target_position`` range is 0.0 - 0.03.

#. Parallel gripper open
   ::

     $ rostopic pub /cobotta/gripper_move/goal \
         denso_cobotta_gripper/GripperMoveActionGoal \
           "{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \
             goal_id: { stamp: { secs: 0, nsecs: 0}}, \
             goal: {target_position: 0.015, speed: 10.0, effort: 10.0}}"

#. Parallel gripper close
   ::

     $ rostopic pub /cobotta/gripper_move/goal \
         denso_cobotta_gripper/GripperMoveActionGoal \
           "{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \
             goal_id: { stamp: { secs: 0, nsecs: 0}}, \
             goal: {target_position: 0.0, speed: 5.0, effort: 10.0}}"

--------------
Vacuum gripper
--------------

+-------------+------------+---------------------+
| Description | direction: | power_percentage[%] |
+=============+============+=====================+
|   Suction   |     -1     |      40 - 100       |
+-------------+------------+                     |
|    Stop     |      0     |                     |
+-------------+------------+                     |
|    Blow     |      1     |                     |
+-------------+------------+---------------------+

#. Suction
   ::

      $ rostopic pub /cobotta/vacuum_move/goal \
          denso_cobotta_gripper/VacuumMoveActionGoal \
            "{header:  {seq: 0, stamp: {secs: 0, nsecs: 0},  frame_id: ''}, \
               goal_id: { stamp: { secs: 0, nsecs: 0}}, \
               goal: {direction: 1, power_percentage: 40.0}}"

#. Stop
   ::

      $ rostopic pub /cobotta/vacuum_move/goal \
          denso_cobotta_gripper/VacuumMoveActionGoal \
            "{header:  {seq: 0, stamp: {secs: 0, nsecs: 0},  frame_id: ''}, \
               goal_id: { stamp: { secs: 0, nsecs: 0}}, \
               goal: {direction: 0, power_percentage: 40.0}}"