Change topic name (xarm_states to robot_states)

ReadMe.md

@@ -15,6 +15,7 @@ For simplified Chinese version: [简体中文版](./ReadMe_cn.md)
 - add support for Gazebo simulation, can be controlled by moveit.
 - support adding customized tool model.  
 - (2022-09-07) Change the parameter type of service (__set_tgpio_modbus_timeout__/__getset_tgpio_modbus_data__), and add parameters to support transparent transmission
+- (2022-09-07) Change topic name (xarm_states to robot_states)
 - (2022-09-07) Update submodule xarm-sdk to version 1.11.0
 
 
@@ -118,7 +119,7 @@ __Reminder 3： All following instructions will base on xArm6，please use prope
 
         __joint_states__: is of type __sensor_msgs::msg::JointState__  
 
-        __xarm_states__: is of type __xarm_msgs::msg::RobotMsg__  
+        __robot_states__: is of type __xarm_msgs::msg::RobotMsg__  
 
         __xarm_cgpio_states__: is of type __xarm_msgs::msg::CIOState__  
 
@@ -135,7 +136,7 @@ __Reminder 3： All following instructions will base on xArm6，please use prope
         # service test
         $ ros2 run xarm_api test_xarm_ros_client
         # topic test
-        $ ros2 run xarm_api test_xarm_states
+        $ ros2 run xarm_api test_robot_states
         ```
 
 - ### 5.5 xarm_controller

ReadMe_cn.md

@@ -14,6 +14,7 @@
 - 支持加载其它模型到机械臂末端
 - 新增xarm_moveit_servo支持xbox手柄/SpaceMouse/键盘控制
 - (2022-09-07) 变更service(__set_tgpio_modbus_timeout__/__getset_tgpio_modbus_data__)的参数类型，增加参数支持透传
+- (2022-09-07) 变更Topic名字(xarm_states改为robot_states)
 - (2022-09-07) 更新子模块xarm-sdk到1.11.0版本
 
 ## 3. 准备工作
@@ -115,7 +116,7 @@ __注意3： 以下启动说明以6轴为例，5轴和7轴的用法只需找到
 
         __joint_states__: 格式为 __sensor_msgs::msg::JointState__  
 
-        __xarm_states__: 格式为 __xarm_msgs::msg::RobotMsg__  
+        __robot_states__: 格式为 __xarm_msgs::msg::RobotMsg__  
 
         __xarm_cgpio_states__: 格式为 __xarm_msgs::msg::CIOState__  
 
@@ -132,7 +133,7 @@ __注意3： 以下启动说明以6轴为例，5轴和7轴的用法只需找到
         # 测试service
         $ ros2 run xarm_api test_xarm_ros_client
         # 测试topic
-        $ ros2 run xarm_api test_xarm_states
+        $ ros2 run xarm_api test_robot_states
         ```
 
 - ### 5.5 xarm_controller

xarm_api/CMakeLists.txt

@@ -96,10 +96,10 @@ target_link_libraries(test_xarm_velo_move
   ${ament_LIBRARIES}
 )
 
-add_executable(test_xarm_states
-   test/test_xarm_states.cpp
+add_executable(test_robot_states
+   test/test_robot_states.cpp
 )
-ament_target_dependencies(test_xarm_states ${dependencies})
+ament_target_dependencies(test_robot_states ${dependencies})
 
 ament_export_libraries(xarm_ros_driver)
 ament_export_libraries(xarm_ros_client)
@@ -121,7 +121,7 @@ install(
   xarm_driver_node 
   test_xarm_ros_client
   test_xarm_velo_move
-  test_xarm_states
+  test_robot_states
   DESTINATION lib/${PROJECT_NAME}
 )
 

xarm_api/src/xarm_driver.cpp

@@ -242,7 +242,7 @@ namespace xarm_api
         xarm_state_msg_.angle.resize(dof_);
 
         joint_state_pub_ = hw_node_->create_publisher<sensor_msgs::msg::JointState>("joint_states", 10);
-        robot_state_pub_ = hw_node_->create_publisher<xarm_msgs::msg::RobotMsg>("xarm_states", 10);
+        robot_state_pub_ = hw_node_->create_publisher<xarm_msgs::msg::RobotMsg>("robot_states", 10);
         cgpio_state_pub_ = hw_node_->create_publisher<xarm_msgs::msg::CIOState>("xarm_cgpio_states", 10);
         ftsensor_ext_state_pub_ = hw_node_->create_publisher<geometry_msgs::msg::WrenchStamped>("uf_ftsensor_ext_states", 10);
         ftsensor_raw_state_pub_ = hw_node_->create_publisher<geometry_msgs::msg::WrenchStamped>("uf_ftsensor_raw_states", 10);

xarm_api/test/test_xarm_states.cpp → xarm_api/test/test_robot_states.cpp

@@ -28,9 +28,9 @@ void joint_states_callback(const sensor_msgs::msg::JointState::SharedPtr states)
     RCLCPP_INFO(rclcpp::get_logger("joint_states"), "positon: %s", pos_str.c_str());
 }
 
-void xarm_states_callback(const xarm_msgs::msg::RobotMsg::SharedPtr states)
+void robot_states_callback(const xarm_msgs::msg::RobotMsg::SharedPtr states)
 {
-    RCLCPP_INFO(rclcpp::get_logger("xarm_states"), "state: %d, error: %d", states->state, states->err);
+    RCLCPP_INFO(rclcpp::get_logger("robot_states"), "state: %d, error: %d", states->state, states->err);
 }
 
 void xarm_cgpio_states_callback(const xarm_msgs::msg::CIOState::SharedPtr states)
@@ -42,19 +42,19 @@ int main(int argc, char **argv)
 {
     rclcpp::init(argc, argv);
     std::string hw_ns = "xarm";
-    std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("test_xarm_states", hw_ns);
+    std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("test_robot_states", hw_ns);
 
-    RCLCPP_INFO(rclcpp::get_logger("test_xarm_states"), "namespace: %s", node->get_namespace());
-    RCLCPP_INFO(rclcpp::get_logger("test_xarm_states"), "test_xarm_states start");
+    RCLCPP_INFO(rclcpp::get_logger("test_robot_states"), "namespace: %s", node->get_namespace());
+    RCLCPP_INFO(rclcpp::get_logger("test_robot_states"), "test_robot_states start");
 
     rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub = node->create_subscription<sensor_msgs::msg::JointState>("joint_states", 100, joint_states_callback);
-    rclcpp::Subscription<xarm_msgs::msg::RobotMsg>::SharedPtr xarm_state_sub = node->create_subscription<xarm_msgs::msg::RobotMsg>("xarm_states", 100, xarm_states_callback);
+    rclcpp::Subscription<xarm_msgs::msg::RobotMsg>::SharedPtr xarm_state_sub = node->create_subscription<xarm_msgs::msg::RobotMsg>("robot_states", 100, robot_states_callback);
     rclcpp::Subscription<xarm_msgs::msg::CIOState>::SharedPtr cgpio_sub = node->create_subscription<xarm_msgs::msg::CIOState>("xarm_cgpio_states", 100, xarm_cgpio_states_callback);
 
     signal(SIGINT, exit_sig_handler);
     rclcpp::spin(node);
     rclcpp::shutdown();
 
-    RCLCPP_INFO(rclcpp::get_logger("test_xarm_states"), "test_xarm_states over");
+    RCLCPP_INFO(rclcpp::get_logger("test_robot_states"), "test_robot_states over");
     return 0;
 }

xarm_msgs/ReadMe.md

@@ -3,7 +3,7 @@
 
 ## msg
 - [xarm_msgs::msg::RobotMsg](./msg/RobotMsg.msg)
-    - xarm_api->topic: __xarm_states__
+    - xarm_api->topic: __robot_states__
 - [xarm_msgs::msg::CIOState](./msg/CIOState.msg)
     - xarm_api->topic: __xarm_cgpio_states__
 - [sensor_msgs::msg::JointState](http://docs.ros.org/en/api/sensor_msgs/html/msg/JointState.html)