Compatible models
This stack provides packages that contain nodes to control only COBOTTA OSS type.
There are two types of COBOTTA:
- Standard type
- OSS type
Could you check whether or not the model type is OSS type?
When you control standard type COBOTTA from ROS, please use denso_robot_ros packages.
The model type of COBOTTA appears on the side of COBOTTA.
![/!\](/moin_static197/rostheme/img/alert.png "/!\"){kind=small}
Could you make sure to check the model type as below?
Status
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DEVELOPMENTAL: This status indicates that this software is not yet production ready code. The software has some level of unit-testing. There are known issues and missing functionality. The APIs are unstable but unlikely to change drastically. Use in production systems will likely require modifications including improvements and/or bug fixes. For more information see the ROS-Industrial software status page. |
Overview
This stack provides packages that contain nodes to control COBOTTA OSS type, an URDF model and an associated MoveIt configuration package as a standard component.
The following packages are included in this stack:
- denso_cobotta_lib
- denso_cobotta_driver
- denso_cobotta_control
- denso_cobotta_gripper
- denso_cobotta_bringup
- denso_cobotta_descriptions
- denso_cobotta_moveit_config
ROS API
Servicies
set_motor_state: Service to set motor state to ON/OFF.
bool state // True: Motor ON, False: Motor OFF --- bool success
get_motor_state: Service to get the current motor state.
bool state // True: Motor ON, False: Motor OFF --- bool success
set_brake_state: Service to set brake states for all joints.
bool[] state // Index: 0(J1) to 5(J6)
// True: Lock
// False: Release
---
bool successget_brake_state: Service to get the current brake states for all joints.
bool[] state // Index: 0(J1) to 5(J6)
// True: Lock
// False: Release
---
bool successclear_error: Service to clear all errors.
--- bool success
clear_robot_error: Service to clear normal errors.
--- bool success
clear_safe_state: Service to clear safety errors.
--- bool success
set_LED_state: Service to set LED state.
uint8 red uint8 green uint8 blue uint8 blink_rate --- bool success
Related Websites
COBOTTA Linux Device Driver: https://www.denso-wave.com/ja/robot/download/application/cobotta_driver_for_linux.html
Documents: https://densorobot.github.io/docs/denso_cobotta_ros/
