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

# 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