KoCo Messages

This repository contains the messages, services, and actions used by the KoCo flexible control framework.

Messages

• DigitalIO: Represents the state of a single digital input/output signal.
• DigitalIOArray: Represents the state of several digital input/output signals as an array of DigitalIO messages.
• KocoPose: A complete description of the robot state in terms of joints, flange pose, tool pose, and robot-specific configuration flags.
• KocoTool: Description of a robot tool in terms of name, transform, weight, and center of gravity.

Services

• PlanAndStore: Service for obtaining a trajectory from a joint target with MoveIt.
• SetOutputs: Service for setting the output signals on the robot.
• SetRobotSpeed: Service for setting the robot speed.
• TriggerString: Service for triggers that require a string input.

Actions

• Move: Used by the robot move action server.
• MoveJ: Used by the robot moveJ action server.
• MoveL: Used by the robot moveL action server.
• MoveSequence: Used for executing sequential moves previously added to a buffer.