Modules - Command Format

Robot Component Guidelines v0.3 - Command Format

The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as Asibot - Implemented Modules). It corresponds to Robot Component Guidelines v0.3 and replaces v0.1 and v0.2. It is intended to be a description of module interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). A referenced list of implemented modules should also be included. Be sure to check the Modules - Dependency Version page too.

Nomenclature: D for double, I for integer, S for string.

Joint Motion Controllers (JMC)

These modules should recieve joint (q) commands. While any q is in movement, a callback should be a set up to be able to receive Stop or Status Poll command. On the other hand, the module should send a message when a command has been performed (w/ info on degree of accomplishment) or stopped.

Module: jmc_name

Port: name_q

In:
- General Stop:      "I:-1"
- Status poll:       "I:0 (S:verb I:verb=0)"
- Absolute position: "I:1 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Relative position: "I:2 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Velocity:          "I:3 S:tag1 D:vel1 ... S:tagn D:veln"
- Force:             "I:4 S:tag1 D:amp1 ... S:tagn D:ampn"
- Syncronize:        "I:5 S:tag1 D:vel1 ... S:tagn D:veln"

Out:
- General Stop Response:    "I:-1 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=0): "I:0 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=1): "I:0 S:tag1 D:pos1 S:tag1vel D:vel1 S:tag1tar D:tar1 S:tag1stat I:stat1 ...
                             ... S:tagn D:posn S:tagnvel D:veln S:tagntar D:tarn S:tagnstat I:statn"

Units: Degrees, Percentage of maximum degrees per second, Amperes

Example Tags: q1 (motor 1), q2 (motor 2), q3 (motor 3), q4 (motor 4), q5 (motor 5)...

Example: Command to /rave_q: 1 q3 45 q2 -45 moves motor 3 45 degrees and motor 2 -45

Implemented JMCs:

jmc_rave: A module that instantiates a OpenRAVE kitchen with ASIBOT environment. read more...
jmc_can:

Cartesian Motion Controllers (CMC)

Module: cmc_name

Port: name_x

In:
- General Stop:             "I:-1"
- Status poll:              "I:0 (S:verb I:verb=0)"
- Absolute position (base): "I:1 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Relative position (base): "I:2 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- End-effector position:    "I:3 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Velocity (base):          "I:4 S:tag1 D:vel1 ... S:tagn D:veln"
- Velocity (end-effector):  "I:5 S:tag1 D:vel1 ... S:tagn D:veln"

Out:
- General Stop Response:    "I:-1 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=0): "I:0 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=1): "I:0 S:tag1 D:pos1 S:tag1vel D:vel1 S:tag1tar D:tar1 S:tag1stat I:stat1 ...
                             ... S:tagn D:posn S:tagnvel D:veln S:tagntar D:tarn S:tagnstat I:statn"

Example Tags: x, y, z, roll, pitch, yaw

Example: Command to /recursive_z: 1 z -0.1

Implemented CMCs:

cmc_recursive: A CMC module based on recursive methods, such as Newton-Raphson. read more...

Human Machine Interfaces (HMI)

Module: hmi_name

Sensors (SNS)

Module: sns_name

Port: name_info

In:
- Status poll:       "I:0"

Out:
- Status response:   "I:0 S:tag1 D:value1 ... S:tagn D:valuen"

Example Tags: accX, accY, accZ, gyrX, gyrY, gyrZ, magX, magY, magZ

Implemented SNSs: