Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger:rps [2021/02/09 19:08] – oliver
+++ trigger:rps [2021/03/25 16:37] (aktuell) – oliver
@@ Zeile 1: / Zeile 1: @@
 ===== Artiminds RPS WebSocket Trigger integration =====
-This implementation implements only loading and starting the robot program via Artiminds RPS WebSocket interface. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.
+This implementation implements only loading and starting the robot program via Artiminds RPS HttpSocket interface. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.
 ^ Property name 	^ Description ^ Optional |
@@ Zeile 12: / Zeile 12: @@
               labelset="Input.xml" measurementSystemConfigIds="default">
   <PropertyGroup name="RPSTrigger">
-        <Property name="robot_cmd_program_name" value="C:/Olive/Users/RPS-Programme/artm/CSVStateList.artm"/>
+        <Property name="robot_cmd_program_name"
+                  value="C:/Olive/Users/RPS-Programme/artm/CSVStateList.artm"/>
+  </PropertyGroup>
+  <!-- Handling of the next cycle mechanism via the ROS trigger implementation -->
+  <PropertyGroup name="ROSTrigger">
+              <Property name="robot_cmd_node_name" value="robot_command_server"/>
+              <Property name="robot_cmd_service_name" value="robotCommand"/>
+              <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
+              <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
+              <Property name="nextcycle_cmd_service_timeout" value="120"/>
   </PropertyGroup>
   ...
 </code>
+The needed uri configuration to connect the RPS is read from the RPS Measurement System configuration.