API Reference

Complete reference for all ROS2 interfaces exposed by the WMX ROS2 packages.

ROS2 Services documents the request/response interfaces for axis control (servo on/off, jog, move to position), gripper control (open/close via EtherCAT digital I/O), and system management (device creation, EtherCAT scan, communication start/stop).

ROS2 Topics covers the published data streams: /joint_states at 500 Hz for MoveIt2 feedback, /wmx/axis/state for detailed per-axis status, and /wmx/io/state for digital I/O monitoring.

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

• ROS2 Services
  • Custom Service Types
  • Engine Management Services
  • Axis Control 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