Forums Niryo One Programming Niryo One Description Niryo nodes

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  • Anthony
    Participant
    Post count: 8

    Hi guys!
    By typing “rosnode list” , I found 14 nodes that are used to handle the robot behavior.
    Controller_spawner
    Joy_node
    Move_group
    Move_group_commander_wrappers
    Niryo_one_commander
    Niryo_one_driver
    Niryo_one_rpi
    Niryo_one_tools
    Robot_state_publisher
    Rosapi
    Rosbridge_websocket
    Rosout
    Tf2_web_republisher
    User_interface

    Can someone provide a little description/explanation of each of thoses 14 nodes?
    Some of them are obvious, but not all of them.
    Thnaks for helping!

    Edouard Renard
    Keymaster
    Post count: 219

    Here’s a very quick description:

    Controller_spawner: used to launch the controllers for ros_control (more info)
    Joy_node: driver for Xbox controller, translate data from joystick to ROS topic (more info)
    Move_group: Moveit fonctionalities (more info)
    Move_group_commander_wrappers: also for Moveit
    Niryo_one_commander: Niryo One custom node provided a high level interface to Moveit
    Niryo_one_driver: Contains a hardware interface for ros_control, and a driver to talk to the motors
    Niryo_one_rpi: All functionalities related to the Raspberry Pi itself
    Niryo_one_tools: Control for the tools (grippers, vacuum pump, electromagnet)
    Robot_state_publisher: publish the state of the robot to the /tf topic, needed for many nodes to work correctly (more info)
    Rosapi: related to rosbridge
    Rosbridge_websocket: used for the communication with Niryo One Studio, through websockets (more info)
    Rosout: log node launched with roscore
    Tf2_web_republisher: republish /tf with some special requirements for rosbridge
    User_interface: Niryo One user interface layer – everything above motion planning, high level functionalities

    On the Github README you can find more info about the different packages (for Niryo One custom nodes, the name of the package is usually the same). Click on each package to get a detailed view of the Niryo One nodes.

     

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