trigger:ros
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
trigger:ros [2021/02/08 09:46] – [The corresponding ROS package "robot_control"] oliver | trigger:ros [2023/02/08 12:50] – [Multi cycle recording] oliver | ||
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< | < | ||
< | < | ||
+ | <!-- optional properties, needed if no ROSMeasurementSystem is configured--> | ||
+ | < | ||
+ | < | ||
</ | </ | ||
... | ... | ||
</ | </ | ||
- | The initialisation of the trigger, implemented by the init()-method of the iTrigger service provider interface invokes the ros service defined by the property " | + | The initialisation of the trigger, implemented by the init()-method of the iTrigger service provider interface invokes |
+ | |||
+ | If the property " | ||
^ Property name ^ Description ^ Optional | | ^ Property name ^ Description ^ Optional | | ||
- | ^ robot_cmd_program_name | Name of the ur-script which should be loaded, started, etc. | | | + | ^ robot_cmd_program_name | Name of the ur-script which should be loaded, started, etc. If this attribute is not set an other implementation can be used to load the program, e.g. via Artiminds RPS. | No | |
- | ^ robot_cmd_node_name | The name of the ROS node, which provides a service to start something before the measurement is started (start trigger) | No | | + | ^ robot_cmd_node_name | The name of the ROS node, which provides a service to start something before the measurement is started (start trigger). Do not set this if the robot program is loaded otherwise. |
- | ^ robot_cmd_service_name| The name of the service to start something before the measurement is started | + | ^ robot_cmd_service_name| The name of the service to start something before the measurement is started. | No | |
+ | ^ robot_ctrl_dnsidentifiablename | Alternative to start the robot program by a simple socket. If this property is set the mechanism to load the robot program defined by the above properties is skiped | Yes | | ||
^ nextcycle_cmd_node_name| The name of the node with the service which can be used to ask for availability of the next cycle the measure. | No | | ^ nextcycle_cmd_node_name| The name of the node with the service which can be used to ask for availability of the next cycle the measure. | No | | ||
^ nextcycle_cmd_service_name| The name of the service, which can be used to ask for availablility of the next cycle to measure | No | | ^ nextcycle_cmd_service_name| The name of the service, which can be used to ask for availablility of the next cycle to measure | No | | ||
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^ loading_robot_program_timeout | Timeout in seconds waiting for a response after invocation of loading a robot program. Default value is 10s | Yes | | ^ loading_robot_program_timeout | Timeout in seconds waiting for a response after invocation of loading a robot program. Default value is 10s | Yes | | ||
^ starting_robot_program_timeout | Timeout in seconds waiting for a response after invocation of starting a robot program. Default value is 10s | Yes | | ^ starting_robot_program_timeout | Timeout in seconds waiting for a response after invocation of starting a robot program. Default value is 10s | Yes | | ||
+ | ^ localhost | Local host uri name, used, if this is not configured by a ROSMeasurementSystem. Can be used to define which of multiple networks cards should be used. | Yes | | ||
+ | ^ masteruri | ROS master uri name, used, if this is not configured by a ROSMeasurementSystem. This is needed to find the ROS master. | Yes | | ||
+ | |||
==== Multi cycle recording ==== | ==== Multi cycle recording ==== | ||
The ROS **iTrigger** implementation determines with invocation of the **nextCycle()** method the following properties, which are collected into the property group **modalities**. This property group is saved into the trial and the property **cycle_nr** is used as the suffix of the next recorded trial. | The ROS **iTrigger** implementation determines with invocation of the **nextCycle()** method the following properties, which are collected into the property group **modalities**. This property group is saved into the trial and the property **cycle_nr** is used as the suffix of the next recorded trial. | ||
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^ pose_y | The y position of the next pose the robot will drive to. | | ^ pose_y | The y position of the next pose the robot will drive to. | | ||
^ pose_z | The z position of the next pose the robot will drive to. | | ^ pose_z | The z position of the next pose the robot will drive to. | | ||
+ | |||
+ | A specific feature of the next-cycle-mechanism implementation of the ROS-trigger is to reset the server cycle next-cycle implementation by invoking inside close()-method of the trigger. That means after recording the last trial of a multi-cycle trial type the trigger is closed and autmatically the serverside code gets the message for resetting flags and counter. | ||
+ | |||
+ | It is possible to use the next-cycle-mechanism independed from the start/ | ||
+ | |||
+ | **Hint:** There is a strange bug which result in that the ROS-Client-Nodes do not find the ROS system, although the ROS master is found. In this case a in the hosts-file the name of the PC which hosts the ROS-Master has to be added mapping to the ip-adresses of the used network card. | ||
==== The corresponding ROS package " | ==== The corresponding ROS package " | ||
The ROS iTrigger implementation communicates with the ROS package [[https:// | The ROS iTrigger implementation communicates with the ROS package [[https:// | ||
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^ Property name ^ Description ^ | ^ Property name ^ Description ^ | ||
^ robot_ip | The ip adress of the robot to control | | ^ robot_ip | The ip adress of the robot to control | | ||
- | ^ robot_port | The port the dashserver | + | ^ robot_port | The port the dashboard server |
^ robot_program| The name of the ur-script program which should be used | | ^ robot_program| The name of the ur-script program which should be used | | ||
+ | |||
+ |
trigger/ros.txt · Zuletzt geändert: 2023/02/08 12:50 von oliver