Add message definition for ToolData.

ros-industrial · Dec 29, 2016 · b26b61d · b26b61d
1 parent a58f4b5
commit b26b61d
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diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
@@ -15,6 +15,7 @@ add_message_files(
    IOStates.msg
    RobotStateRTMsg.msg
    MasterboardDataMsg.msg
+   ToolDataMsg.msg
 )
 
 ## Generate services in the 'srv' folder

diff --git a/ur_msgs/msg/ToolDataMsg.msg b/ur_msgs/msg/ToolDataMsg.msg
@@ -0,0 +1,20 @@
+# This data structure contains the ToolData structure
+# used by the Universal Robots controller
+
+int8 ANALOG_INPUT_RANGE_CURRENT = 0
+int8 ANALOG_INPUT_RANGE_VOLTAGE = 1
+
+int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*
+int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*
+float64 analog_input2
+float64 analog_input3
+float32 tool_voltage_48v
+uint8 tool_output_voltage
+float32 tool_current
+float32 tool_temperature
+
+uint8 TOOL_BOOTLOADER_MODE = 249
+uint8 TOOL_RUNNING_MODE = 253
+uint8 TOOL_IDLE_MODE = 255
+
+uint8 tool_mode # one of TOOL_*