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ROS Trigger integration
The ROS-Trigger implementation works together with the ros package robot_control and needs specific configuration by additional Properties to the trial type. The properties are organised as a PropertyGroup with the fix name „ROSTrigger“:
... <TrialType name="takeover" duration="2" labelset="Input.xml" measurementSystemConfigIds="default"> <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"/> </PropertyGroup> ...
The initialisation of the trigger, implemented by the init()-method of the iTrigger service provider interface invokes per default the ros service defined by the property „robot_cmd_service_name“ on the ros node defined by the property „robot_cmd_node_node“ with the parameter „LOAD“. This loads a program written in URScript defined as as a property in the launch file of the ROS package.
If the property „robot_ctrl_dnsidentifiablename“ is set this mechanism to load the programm is skiped and additionally to start the program the String „START“ is sent to a socket-server at the ip/port given by this property.
| Property name | Description | Optional |
|---|---|---|
| robot_cmd_program_name | Name of the ur-script which should be loaded, started, etc. | |
| 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_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_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_timeout | Timeout in [s] for waiting for next cycle. | No |
| calibrate_cmd_service_name | The name of the service to start a calibration task to align the local coordinate system of the robot and the vicon system. | optional, instead of next_cycle_cmd_service_name |
| 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 |
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.
| Property name | Description |
|---|---|
| cycle_nr | The index of the next pose the robot will drive to. |
| pose_x | The x 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. |
The corresponding ROS package "robot_control"
The ROS iTrigger implementation communicates with the ROS package robot_control. This package can be configured by properties in its launch files:
| Property name | Description |
|---|---|
| robot_ip | The ip adress of the robot to control |
| robot_port | The port the dashboard server of the UR-robot can be reached |
| robot_program | The name of the ur-script program which should be used |