Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger:ros [2021/02/08 15:10] – [RPS Trigger integration] oliver
+++ trigger:ros [2023/02/08 12:50] (aktuell) – [Multi cycle recording] oliver
@@ Zeile 12: / Zeile 12: @@
         <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
         <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
+        <!-- optional properties, needed if no ROSMeasurementSystem is configured-->
+        <Property name="localhost" value="192.168.10.100"/>
+        <Property name="masteruri" value="http://192.168.10.2:11311"/>
   </PropertyGroup>
   ...
@@ Zeile 21: / Zeile 24: @@
 ^ 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. | Yes |
-^ robot_cmd_service_name| The name of the service to start something before the measurement is started  | 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 |
@@ Zeile 31: / Zeile 34: @@
 ^ 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 |
+^ 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 ====
 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.
@@ Zeile 39: / Zeile 45: @@
 ^ 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. |
+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/stop-triger-functionality. That means you can use a specific trigger implemenatation to load, start and stop a robot and you can use this ROS-implementation only to manage the next-cycle functionality.
+**Hint:** There is a strange bug, which results 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 "robot_control" ====
 The ROS iTrigger implementation communicates with the ROS package [[https://github.com/MobMonRob/robot_control | robot_control]]. This package can be configured by properties in its launch files:
@@ Zeile 47: / Zeile 59: @@
 ^ robot_program| The name of the ur-script program which should be used |
-===== RPS Trigger integration =====
-This is an incomplete implementation only which only loads and start the robot program via RPS. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.