Common Robot Control Interfaces

Provides commonly used robot control interfaces, including moving to specified positions, IO control, program execution control, and servo power on/off control,Emergency stop.

Note:

• robot_type defaults to "C5A" .
• Optional values: C7A , C12A , C16A .
• If emergency_stop was triggered, clear/reset alarms first (teach pendant or SDK) before motion/script commands.

Robot End-effector Movement to Target Position

Interface Name

• gbt_interface/action/MoveToPose

Usage Method

Start service:

ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

For headless environments (Docker/CI), disable RViz to avoid display errors:

ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type> enable_rviz:=false

Simulate sending target position request:

ros2 action send_goal /gbt_driver/move_to_pose gbt_interface/action/MoveToPose "{ x: 400.0, y: -200.0, z: 500.0, a: 100.0, b: 30.0, c: 110, vel: 1, acc: 1 }"

IO Read/Write

Note: Please configure the I/O mapping before using the I/O control function.

• Interface Name: gbt_interface/srv/IO
• Start Service:

ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

• Set IO Port Status:

ros2 service call /gbt_driver/service_server/io gbt_interface/srv/IO "{signal_type: 2, signal_port: 1, signal_value: 1, command: 'set'}"

• Get IO Port Status:

ros2 service call /gbt_driver/service_server/io gbt_interface/srv/IO "{signal_type: 2, signal_port: 1, command: 'get'}"

IO TYPE Table

Enum	Value	Description
DI	1	Digital Input
DO	2	Digital Output
UI	3	Universal Input
UO	4	Universal Output
RI	5	Robot Input
RO	6	Robot Output
GI	7	Group Input
GO	8	Group Output
TAI	9	Wrist Analog Input
TDI	10	Wrist Digital Input
TDO	11	Wrist Digital Output
AI	12	Analog Input
AO	13	Analog Output

Program Execution Control

• Interface Name: gbt_interface/srv/ProgramControl
• Start Service:

ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

• Start Program:

ros2 service call /gbt_driver/service_server/program_control gbt_interface/srv/ProgramControl "{command: 'start', program_name: 'test'}"

To pause, resume or stop programs, replace the command parameter with:

• pause : Pause program
• resume : Resume program
• stop : Stop program

Servo Power Control

• Interface Name: gbt_interface/srv/Servo
• Start Service:

ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

• Servo Motor Power On:

ros2 service call /gbt_driver/service_server/servo_power gbt_interface/srv/Servo "{servo_on: true}"

To power off the servo motor, set servo_on parameter to false .

Emergency Stop

• Interface Name: gbt_interface/srv/EmergencyStop
• Interface Description: Controls the emergency stop state of the robotic arm
• Start Service:

  ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

• Usage Example:

  ros2 service call /gbt_driver/service_server/emergency_stop gbt_interface/srv/EmergencyStop "{}"

Note: After emergency stop, the controller may stay in E-Stop state. Reset alarms before motion/script commands. If the controller is already in CTRL_ESTOP , this call may return CONTROLLER_INVALID_OPERATION .

LED Switch

• Interface Name: gbt_interface/srv/LED
• Interface Description: This interface is used to control the LED status of the robotic arm
• Start Service:

  ros2 launch gbt_driver gbt_service_server.launch.py robot_type:=<robot_type>

• Usage Example:

  ros2 service call /gbt_driver/service_server/led gbt_interface/srv/LED "{led_on: true}"