integration:ros
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ROS measurement system integration
The ROS-integration is based on rosjava. Connections to one or more running ROS systems are possible. The master uri of a ros system has to be configured as property of the measurement system configuration as follow:
<?xml version="1.0" encoding="iso-8859-1" ?> <MeasurementProcess name="Upperlimb Measurement"> <MeasurementSystem id="default" system="ROS" fileSuffix="r3d"> <Property name="localhost" value="192.168.10.100"/> <Property name="masteruri" value="http://192.168.10.2:11311"/> <TransducerUnitGroup name="vicon/RightHumerus" displayName="RightHumerus"> <TransducerUnit name="RightHumerus" displayName="RightHumerus" sampleRate="120"> ... ... ... </MeasurementProcess>
The <MeasurementSystem>-element has the following additional properties:
Property name | Description | Optional |
---|---|---|
masteruri | The ip of the ROS master. | No |
localhost | The ip of the networkinterface used to connecto to the ROS master. Without using it, a default value is determined automatically which can result in the wrong ip, if more than one network adapters are available. | Yes |
The <TransducerUnit>-elemement has additional specific properties:
Property name | Description | Optional |
---|---|---|
timestampsMethod | Methods to define timestamps: „fromROS“ if the timestamp from default ROS-header is used; „autoarrive“ if the timestamp when the frame arrives is used. „autofix“ if the configurated sample rate is used and it is assumed that no frames are lost. | No |
UR specific topics
Based on the FZI UR-robot-driver branch.
Topic type | Description | Channel name | Unit | Type |
---|---|---|---|---|
ur_rtde_msgs.JointTemperature | Temperatures in 6 segments of an UR-robot. | „URt<index>“ and „URtT“ for the timestamps | °C | REAL |
ur_rtde_msgs.JointPosition | Joint angles for 6 segments of an UR-robot. | „URAngle<index>“ and „URAngleT“ for the timestamps | rad | REAL |
<TransducerUnitGroup name="ur_hardware_interface/rtde_data" displayName="UR"> <TransducerUnit name="joint_temperatures" displayName="JointTemperatures" sampleRate="120"> <Channel name="URt0"/> <Channel name="URt1"/> <Channel name="URt2"/> <Channel name="URt3"/> <Channel name="URt4"/> <Channel name="URt5"/> <Channel name="URtT"/> </TransducerUnit> <TransducerUnit name="target_q" displayName="JointAngles" sampleRate="120"> <Channel name="URAngle0"/> <Channel name="URAngle1"/> <Channel name="URAngle2"/> <Channel name="URAngle3"/> <Channel name="URAngle4"/> <Channel name="URAngle5"/> <Channel name="URAngleT"/> </TransducerUnit> </TransducerUnitGroup>
integration/ros.1590484027.txt.gz · Zuletzt geändert: 2020/05/26 11:07 von oliver