A1XY Software Introduction

Software Dependency

OS Dependency: Ubuntu 20.04 LTS
Middleware Dependency: ROS Noetic

Obtain Resources

Click any of the following links to obtain A1XY SDK.

Baidu Cloud: https://pan.baidu.com/s/1jVEqjL-r_Ll7bKFB1XxKIw?pwd=a1xy
Google Drive：https://drive.google.com/drive/folders/180qSZTc7bZgwklVuwcuhq5O2DPteI2nR?usp=sharing

This is the initial software release for the A1XY robot arm. For subsequent version updates, you can refer to the A1XY Software Version Cahngelog to obtain the latest SDK package and update information.

Click the following links to obtain A1XY URDF.

Start SDK

Visit the A1XY Startup and Demo Guide.

Demo

Visit the A1XY Demo Guide.

Software Interface

Driver Interface

Topic Name	I/O	Desciption	Message Type
/hdas/feedback_arm	Output	Position, speed, and torque feedback for each joint	sensor_msgs::JointState
/hdas/feedback_gripper	Output	End-effector gripper stroke feedback	sensor_msgs::JointState
/hdas/feedback_status	Output	Status feedback for each joint	hdas_msg::feedback_status
/motion_control/control_arm	Input	Motor control interface for each joint	hdas_msg::motor_control
/motion_control/control_gripper	Input	End-effector gripper motor control interface	hdas_msg::motor_control
/motion_control/position_control_gripper	Input	End-effector gripper stroke control interface	std_msgs::Float32
/arm_node/function_frame_arm	Input	Robot arm function frame	hdas_msg/FunctionFrame

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Desciption
/hdas/feedback_arm	header	Standard Header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort]
/hdas/feedback_gripper	header	Standard Header
	position	[gripper_stroke]
	velocity	Not used
	effort	Not used
/hdas/feedback_status_arm	header	Standard Header
	name_id	Joint name
	errors	Contains error code and desciption
/motion_control/control_arm	header	Standard Header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort]
	mode	-
/motion_control/control_gripper	header	Standard Header
	name	-
	p_des	[gripper_position]
	v_des	[gripper_velocity]
	kp	[gripper_kp]
	kd	[gripper_kd]
	t_ff	[gripper_effort]
	mode	-
/motion_control/position_control_gripper	header	Standard Header
/motion_control/position_control_gripper	data	desired_gripper_stroke, range (0 to 100) mm
/arm_node/function_frame_arm	command	1: Enable 2: Disable 3: Whole arm calibration 4: Clear error

Motion Control Interface

Joint Control

source A1XY_workspace/install/setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch

This launch file will start with the a1_xy_jointTracker_demo_node, which is the main node responsible for controlling each joint.

The interface is shown below:

Topic Name	I/O	Desciption	Message Type
/hdas/feedback_arm	Output	Arm joint feedback	Hdas_msg::motor_control
/motion_control/control_arm	Input	Arm motor control	Sensor_msgs::JointState
/motion_target/target_joint_state_arm	Input	Target position of each joint	sensor_msgs::JointState

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Desciption
/motion_target/target_joint_state_arm	position	This is a vector with six elements representing the target positions of each joint.This is a vector with six elements representing the target positions of each joint.
/motion_target/target_joint_state_arm	velocity	This is a vector with six elements representing the maximum velocity of each joint during motion. The maximum velocities are as follows: {3, 3, 3, 5, 5, 5, 5}. The acceleration and jerk limits are set to 1.5 times the velocity limits.
/hdas/feedback_arm	-	Please refer to the arm diver interface.
/motion_control/control_arm	-	Please refer to the arm diver interface.

Arm Pose Control

A1XY Arm Pose Control is a ROS package designed to control the movement of the robotic arm to the target end-effector (ee) coordinate frame. It primarily includes a launch file that can be started using the following command:

source A1XY_workspace/install/setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_arm_relaxed_ik.launch
roslaunch mobiman a1y_arm_relaxed_ik.launch

Note:

When the dual-arm pose controller is started, the joint control node must also be launched. This is because the pose controller continuously calculates the target joint angles based on the desired end-effector (ee) pose and sends these target angles to the /motion_target/target_joint_state_arm topic.
```
source A1XY_workspace/install/setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch
```
The relative pose of the current end-effector pose control is the transformation of the gripper_link relative to the base_link in the URDF. Taking the A1X as an example, the following figure shows the relative relationship of the gripper_link coordinate system to the base_link coordinate system, including the offsets in x, y, and z, as well as the rotational offsets corresponding to the orientation.

A1XY_arm_pose_cn

The interface is shown below:

Topic Name	I/O	Desciption	Message Type
/hdas/pose_ee_arm	Output	Actual pose of ee	Hdas_msg::motor_control
/hdas/feedback_arm	Output	Arm joint feedback	Hdas_msg::motor_control
/motion_target/target_joint_state_arm	Input	Target of Arm joint	Sensor_msgs::JointState
/motion_target/pose_ee_arm	Input	Target pose of ee	Geometry_msgs::PoseStamped

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Desciption
/motion_target/pose_ee_arm	header	Standard Header
	pose.position.x	X-axis offset
	pose.position.y	Y-axis offset
	pose.position.z	Z-axis offset
	pose.orientation.x	Rotation quaternion
	pose.orientation.y	Rotation quaternion
	pose.orientation.z	Rotation quaternion
	pose.orientation.w	Rotation quaternion
/hdas/feedback_arm	-	Please refer to the arm diver interface.
/motion_target/target_joint_state_arm	-	Please refer to the joint control interface

Gripper Control

A1XY Gripper Control is a ROS node designed to control the end-effector gripper. It primarily includes a launch file that can be started using the following command:

source A1XY_workspace/install/setup.bash
roslaunch mobiman a1xy_gripperController.launch

This launch file will start a1_xy_jointTracker_demo_node, which is the main node responsible for controlling each joint.

The interface is shown below:

Topic Name	I/O	Desciption	Message Type
/motion_target/target_position_gripper	Input	Target position of gripper	Sensor_msgs::JointState
/motion_control/control_gripper	Input	Motor control of gripper	Sensor_msgs::JointState

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Desciption
/motion_target/target_position_gripper	position	Indicates the target position of the gripper, ranging from [0, 100], where 0 represents fully closed and 100 represents fully open.
/motion_control/control_gripper	-	Please refer to the driver interface.