Message Definitions¶

This page documents all custom message types used in the Tesollo ROS 2 packages. These messages are defined in the dg_msgs package (part of the dg_sdk_ros2_bridge repository) and are used by the SDK bridge node.

Note

For ros2_control users: The ros2_control driver (delto_hardware) uses standard ROS 2 message types only – you do not need the dg_msgs package. Standard types used include sensor_msgs/msg/JointState, geometry_msgs/msg/WrenchStamped, std_srvs/srv/Trigger, and std_srvs/srv/SetBool.

ReceivedGripperData¶

Gripper feedback data published continuously on /dg/gripper_data.

float64[] joint          # Joint positions (radians), one per joint
float64[] velocity       # Joint velocities (radians/second), one per joint
float64[] current        # Motor currents (amperes), one per joint
float64[] temperature    # Motor temperatures (Celsius), one per joint

How to read this topic:

ros2 topic echo /dg/gripper_data

ReceivedFingertipSensorData¶

F/T sensor readings published continuously on /dg/fingertip_sensor_data.

float64[] data    # 6 values per finger: [fx, fy, fz, tx, ty, tz]

The array is organized as [finger1_fx, finger1_fy, finger1_fz, finger1_tx, finger1_ty, finger1_tz, finger2_fx, ...]. For a 5-finger gripper, this contains 30 values (5 fingers x 6 axes).

How to read this topic:

ros2 topic echo /dg/fingertip_sensor_data

ReceivedGPIOData¶

GPIO states published continuously on /dg/gpio_data.

bool[] data    # [output1, output2, output3, input1]

data[0] through data[2]: Current state of the 3 GPIO outputs
data[3]: Current state of the GPIO input

DiagnosisSystem¶

System diagnostic information published on /dg/diagnosis_system.

Note

See dg_msgs/msg/DiagnosisSystem.msg for the complete field definitions. This message contains internal system status information for debugging and monitoring.

Recipe Messages¶

These messages are used with the recipe management services to save and load gripper configurations:

Message	Description
`RecipePoseData`	Joint pose recipe – stores target joint positions
`RecipeGainData`	PID gain recipe – stores PID gain values per joint
`RecipeGraspData`	Grasp recipe – stores grasp force and motion parameters
`RecipeBlendData`	Blend motion recipe – stores waypoints for smooth multi-point motions

Note

See the corresponding dg_msgs/msg/Recipe*.msg files for complete field definitions.

Configuration Messages¶

Message	Description
`GripperSystemSetting`	System-level configuration (used with `SetGripperSystem` service)
`GripperSetting`	Gripper-specific settings (used with `SetGripperOption` service)

Note

See the corresponding dg_msgs/msg/GripperSystemSetting.msg and dg_msgs/msg/GripperSetting.msg files for complete field definitions.

Standard ROS 2 Messages Used by ros2_control¶

When using the delto_hardware driver (ros2_control approach), the system uses these standard message types:

Type	Where Used	Description
`sensor_msgs/msg/JointState`	`/<ns>/joint_states`	Joint positions, velocities, and efforts
`geometry_msgs/msg/WrenchStamped`	`/<ns>/fingertip_N_broadcaster/wrench`	F/T sensor force and torque readings
`control_msgs/action/FollowJointTrajectory`	`/<ns>/<controller>/follow_joint_trajectory`	Trajectory commands for the JTC
`std_msgs/msg/Float64MultiArray`	`/<ns>/effort_controller/commands`	Direct effort commands
`std_msgs/msg/Float64`	`/<ns>/<joint>_pospid/reference`	PID controller position reference
`std_msgs/msg/Float64MultiArray`	`/<ns>/rj_dg_pospid/reference`	Grouped PID controller position references