grbl_ros.device module

class grbl_ros.device.grbl_node(*args: Any, **kwargs: Any)

Bases: Node

A ROS2 node representing a single GRBL device.

This nodes main function is to publish the real-time pose of the GRBL device as a ROS2 transform (tf). Additionally it enables the ROS2 user to send GCODE commands and files to the GRBL device and monitor its status.

file_feedback(feedback)

Feedback function during the send_gcode_file ROS2 aciton.

This feedback callback can be called during the send_gcode_file in order to provide feedback to the user as the ROS2 action is executed.

gcodeCallback(goal_handle)

Send GCODE ROS2 action callback.

This is the callback called each time the ROS2 send_gcode_cmd action is called.

get_result_callback(future)

line_response_callback(future)

poseCallback(request, response)

stopCallback(request, response)

streamCallback(goal_handle)

Send GCODE file ROS2 action callback.

This is the callback called each time the ROS2 send_gcode_file action is called and calls the send_gcode_cmd action for each line in the given file.

grbl_ros.device.main(args=None)