API Reference

Complete reference for all ROS2 interfaces exposed by the WMX ROS2 packages. The interfaces are provided by the general nodes in wmx_ros2_package — wmx_engine_node, wmx_core_motion_node, wmx_ethercat_node, and wmx_io_node — together with the manipulator controllers (joint state broadcaster, gripper controller, and joint trajectory controller). All custom message and service types are defined in wmx_ros2_message.

ROS2 Services documents the request/response interfaces:

• Engine management (wmx_engine_node) – device creation/teardown (/wmx/engine/set_device), communication start/stop (/wmx/engine/set_comm), status query (/wmx/engine/get_status), and EtherCAT network scan (/wmx/engine/scan_network).

• Axis control (wmx_core_motion_node) – servo on/off, clear alarm, set command mode, set polarity, set gear ratio, and homing (/wmx/axis/*), plus loading and reading axis parameters from XML (/wmx/params/load, /wmx/params/get).

• I/O (wmx_io_node) – read and write digital input/output bits and bytes (/wmx/io/*). Gripper open/close (/wmx/set_gripper) is layered on top of digital output bit 0.

• EtherCAT (wmx_ethercat_node) – network state, register read, statistics reset, and hot-connect (/wmx/ecat/*).

ROS2 Topics covers the streamed data: /joint_states for MoveIt2 and RViz feedback (rate set by joint_feedback_rate, plus Isaac Sim and Gazebo variants), /wmx/axis/state for detailed per-axis status (AxisState at 100 Hz), the motion-command inputs /wmx/axis/position, /wmx/axis/position/relative and /wmx/axis/velocity, and the per-node ready heartbeats.

ROS2 Actions describes the FollowJointTrajectory action server that receives multi-waypoint trajectories from MoveIt2 and executes them on the robot via WMX spline interpolation.

• Communication Overview
• wmx_ros2_message
  • Overview
  • Package Structure
  • Dependencies
  • Message Definitions
  • Service Definitions
  • Building the Package
• wmx_ros2_package
  • Overview
  • Package Structure
  • Dependencies
  • Node Coordination
  • General Nodes
  • Manipulator Controllers
  • Launch Files
  • Configuration Files
  • Building the Package
• ROS2 Services
  • Custom Service Types
  • Engine Management Services
  • Axis Control Services
  • Parameter Services
  • Gripper Service
  • I/O Services
  • EtherCAT Diagnostic Services
  • Service Call Workflow
  • Error Handling
  • See Also
• ROS2 Topics
  • Custom Message Types
  • Published Topics
  • Subscribed Topics (Motion Commands)
  • Differential Drive Topics (Optional)
  • See Also
• ROS2 Actions
  • FollowJointTrajectory