Service Definitions

This page lists all services available in the Tesollo ROS 2 packages. Services are divided into two categories:

1. Hardware interface services – provided by delto_hardware (available when using ros2_control)

2. SDK bridge services – provided by dg_sdk_ros2_bridge (available when using the SDK bridge)

Hardware Interface Services (delto_hardware)

These services are created by the delto_hardware hardware interface and are available under your gripper’s namespace (e.g., /dg5f_right/, /dg4f/, /dg3f_m/).

Service	Type	Description
/<ns>/delto_hardware_interface_node/set_ft_sensor_offset	std_srvs/srv/Trigger	Zero-calibrate all fingertip F/T sensors. Call when nothing is touching the fingertips
/<ns>/set_gpio_output1	std_srvs/srv/SetBool	Set GPIO output 1 (true = high, false = low)
/<ns>/set_gpio_output2	std_srvs/srv/SetBool	Set GPIO output 2
/<ns>/set_gpio_output3	std_srvs/srv/SetBool	Set GPIO output 3

Replace <ns> with your gripper’s namespace. Common namespaces:

• dg5f_right, dg5f_left – DG-5F

• dg5f_both – DG-5F dual-hand

• dg5f_s_right, dg5f_s_left – DG-5F-S

• dg4f – DG-4F

• dg3f_m – DG-3F-M

Example usage:

# Calibrate F/T sensors on a DG-5F Right
ros2 service call /dg5f_right/delto_hardware_interface_node/set_ft_sensor_offset std_srvs/srv/Trigger

# Enable GPIO output 1 on a DG-4F
ros2 service call /dg4f/set_gpio_output1 std_srvs/srv/SetBool "{data: true}"

Note

The F/T sensor calibration and GPIO services use standard ROS 2 message types (std_srvs/srv/Trigger and std_srvs/srv/SetBool), which are included with every ROS 2 installation. No custom messages are needed.

SDK Bridge Services (dg_sdk_ros2_bridge)

All custom services below are defined in the dg_msgs package (part of the dg_sdk_ros2_bridge repository). They are available when running the SDK bridge node.

System Setting

Service	Description
SetGripperSystem	Configure gripper system parameters
SetGripperOption	Set gripper options
ConnectToGripper	Establish connection to the gripper
DisconnectToGripper	Close connection
SystemStart	Start the gripper system
SystemStop	Stop the gripper system
SetIp	Configure the gripper’s network IP address

System Configuration

Service	Description
SetLowPassFilterAlpha	Set low-pass filter coefficient for sensor smoothing
SetBootMode	Configure power-on behavior
SetGPIOOutput	Set individual GPIO output
SetGPIOOutputAll	Set all GPIO outputs at once
SetTorqueLimitMode	Configure torque limiting
SetBootRecipe	Set boot-up recipe
EEPROMWrite	Write to persistent storage
SystemDiagnosis	Run system diagnostics
BackupRecipeData	Backup all recipes
RestoreRecipeData	Restore recipes from backup

Joint Gain Settings

Service	Description
SetJointGainP / PFinger / PAll	Proportional gain (per joint / per finger / all)
SetJointGainD / DFinger / DAll	Derivative gain
SetJointGainI / IFinger / IAll	Integral gain
SetJointGainPID / PIDFinger / PIDAll / PIDAllEqual	Combined PID gains
SetControlPIDMode	Set PID control mode

Motion Time

Service	Description
SetMotionTimeJoint / Finger / All / AllEqual	Set motion duration

Position and Current Control

Service	Description
SetPositionModeJoint / Finger / All	Set position control mode
SetCurrentControlMode	Enable current control
SetTargetCurrentJoint / Finger / All	Set target current

Motion Commands

Service	Description
MoveJoint / MoveJointFinger / MoveJointAll	Joint space motion
MoveServoJoint	Servo (real-time) joint control
ManualTeachMode	Enable/disable manual teaching
StartGraspMotion	Execute grasp motion
SetGraspData / SetGraspForce	Configure grasp parameters

TCP Control (Experimental)

Service	Description
SetTCPGainP/D/I/PID (Finger/All)	TCP space PID gains
SetTCPMotionTime (Finger/All/AllEqual)	TCP motion duration
MoveTCPFinger / MoveTCPAll	TCP space motion
GetCurrentTcpPose	Get current TCP pose
SetManipulationGainPIDAll	In-hand manipulation gains
InHandManipulation	Execute in-hand manipulation
SetFingerTipDataZero	Zero fingertip sensor

Recipe Management

Service	Description
UpdateRecipeCurrentPoseData	Save current pose to recipe
UpdateRecipeTargetPoseData	Save target pose to recipe
LoadRecipePoseData	Load pose recipe
UpdateRecipeGainData	Save gain recipe
LoadRecipeGainData	Load gain recipe
UpdateRecipeGraspData	Save grasp recipe
LoadRecipeGraspData	Load grasp recipe

Blend Motion

Service	Description
UpdateBlendJoint	Update blend motion waypoint
AddMoveBlendJoint	Add waypoint to blend queue
ClearMoveBlendJoint	Clear blend queue
SetMoveBlendJoint	Configure blend motion
StartMoveBlendJoint	Execute blend motion
StopMoveBlendJoint	Stop blend motion

Getters

Service	Description
GetReceivedGripperData	Get latest gripper data
GetReceivedFingertipSensorData	Get latest F/T data
GetReceivedGPIOData	Get latest GPIO data
GetCommunicationPeriod	Get communication cycle time
GetDataProcessing	Get processing status
GetDiagnosisSystem	Get diagnostics