# grbl_node

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Node Description
A ROS2 node representing a single GRBL device. This node's 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.

## Publishers
| Topic | Message Type | Description |
|-------|--------------|-------------|
| `{machine_id}/machine_position` | `geometry_msgs/msg/Pose` | Publishes the machine position of the GRBL device |
| `{machine_id}/work_position` | `geometry_msgs/msg/Pose` | Publishes the work position of the GRBL device |
| `{machine_id}/state` | `grbl_msgs/msg/State` | Publishes the current state of the GRBL device |
| `/tf` | `tf2_msgs/msg/TFMessage` | Publishes transforms via TransformBroadcaster |

## Services
| Service | Service Type | Description |
|---------|--------------|-------------|
| `{machine_id}/stop` | `grbl_msgs/srv/Stop` | Stops the GRBL device (disables or fires steppers) |

## Actions
| Action | Action Type | Description |
|--------|-------------|-------------|
| `{machine_id}/send_gcode_cmd` | `grbl_msgs/action/SendGcodeCmd` | Sends a single GCODE command to the GRBL device |
| `{machine_id}/send_gcode_file` | `grbl_msgs/action/SendGcodeFile` | Sends a GCODE file to the GRBL device (streams file line by line) |

## Parameters
| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `machine_id` | string | `"cnc_001"` | Unique identifier for the GRBL machine |
| `port` | string | `"/dev/ttyUSB0"` | Serial port for the GRBL device |
| `baudrate` | int | `115200` | Baud rate for serial communication |
| `acceleration` | int | `50` | Axis acceleration in mm/min² |
| `x_max` | int | `300` | Maximum X-axis travel in mm |
| `y_max` | int | `200` | Maximum Y-axis travel in mm |
| `z_max` | int | `150` | Maximum Z-axis travel in mm |
| `default_v` | int | `100` | Default velocity in mm/min |
| `x_max_v` | int | `150` | Maximum X-axis velocity in mm/min |
| `y_max_v` | int | `150` | Maximum Y-axis velocity in mm/min |
| `z_max_v` | int | `150` | Maximum Z-axis velocity in mm/min |
| `x_steps` | int | `100` | X-axis steps per mm |
| `y_steps` | int | `100` | Y-axis steps per mm |
| `z_steps` | int | `100` | Z-axis steps per mm |

## Example Usage
```bash
# Run with default parameters
ros2 run grbl_ros grbl_node

# Run with custom parameters from config file
ros2 run grbl_ros grbl_node --ros-args --params-file /path/to/config.yaml
```