Python RosFileServerLoader Examples

Example #1

File: 02_robot_from_ros_with_cache.py Project: yijiangh/compas_fab

import os

import compas
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader

# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'

with RosClient() as ros:
    # Load URDF from ROS with local cache enabled
    local_directory = os.path.join(os.path.expanduser('~'),
                                   'robot_description')
    loader = RosFileServerLoader(ros,
                                 local_cache=True,
                                 local_cache_directory=local_directory)
    loader.robot_name = 'abb_irb1600_6_12'

    urdf = loader.load_urdf()

    # Create robot model from URDF and load geometry
    model = RobotModel.from_urdf_string(urdf)
    model.load_geometry(loader)

    print(model)

Example #2

import math
from compas.geometry import Frame
from compas.robots import RobotModel

from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader
from compas_fab.robots import Configuration
from compas_fab.robots import Robot
from compas_fab.robots import RobotSemantics

with RosClient() as client:
    loader = RosFileServerLoader(client)

    urdf = loader.load_urdf()
    srdf = loader.load_srdf()

    model = RobotModel.from_urdf_string(urdf)
    semantics = RobotSemantics.from_srdf_string(srdf, model)

    robot = Robot(model, semantics=semantics, client=client)
    group = robot.main_group_name

    frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
    tolerance_position = 0.001
    tolerance_axes = [math.radians(1)] * 3

    start_configuration = Configuration.from_revolute_values(
        (0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571))

    # create goal constraints from frame
    goal_constraints = robot.constraints_from_frame(frame, tolerance_position,

Example #3

File: 02_robot_from_ros.py Project: gramaziokohler/maker_faire_bilbao_workshop_2019

import compas
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader

# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'

with RosClient() as ros:
    # Load URDF from ROS
    loader = RosFileServerLoader(ros)
    urdf = loader.load_urdf()

    # Create robot model from URDF and load geometry
    model = RobotModel.from_urdf_string(urdf)
    model.load_geometry(loader)

    print(model)