control_mode = int(args.control_mode)
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('hiwin_robot_sdk_'+robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip, connection_level=control_mode,name=robot_name)
robot_ctr.connect()
## strategy trigger
try:
if robot_ctr.is_connected():
robot_ctr.Set_operation_mode(0)
robot_ctr.Set_base_number(5)
robot_ctr.Set_tool_number(13) #huddle tool
robot_ctr.Set_operation_mode(1)
ArmGernel_Speed = 100
LineDown_Speed = 15
robot_ctr.Set_override_ratio(ArmGernel_Speed)
robot_ctr.Step_RelPTPCmd(relat_pos)
self.state = State.move2bin_middleup
self.arm_move = True
elif self.state == State.move2bin_middleup:
pos = [11.5, 24, 14, 180, 10, 0]
robot_ctr.Set_ptp_speed(10)
robot_ctr.Step_AbsPTPCmd(pose)
self.state = State.move2objup
self.arm_move = True
if __name__ == "__main__":
rospy.init_node('get_pcd')
robot_ctr = HiwinRobotInterface(robot_ip="192.168.0.1",
connection_level=1,
name="manipulator")
robot_ctr.connect()
robot_ctr.Set_operation_mode(0)
# set tool & base coor
tool_coor = [0, 0, 0, 0, 0, 0]
base_coor = [0, 0, 0, 0, 0, 0]
robot_ctr.Set_base_number(5)
# base_result = robot_ctr.Define_base(1,base_coor)
robot_ctr.Set_tool_number(10)
# tool_result = robot_ctr.Define_tool(1,tool_coor)
robot_ctr.Set_operation_mode(1)
robot_ctr.Set_override_ratio(100)
poses = []
strtage = EasyCATest()
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('calibration_' + robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip,
connection_level=control_mode,
name=robot_name)
robot_ctr.connect()
robot_ctr.Set_operation_mode(0)
# set tool & base coor
tool_coor = [0, 0, 0, 0, 0, 0]
base_coor = [0, 0, 0, 0, 0, 0]
robot_ctr.Set_base_number(1)
base_result = robot_ctr.Define_base(1, base_coor)
robot_ctr.Set_tool_number(1)
tool_result = robot_ctr.Define_tool(1, tool_coor)
#ArmTask.run()
robot_ctr.Set_operation_mode(1)
#ArmTask.Arm_Mode(4,1,0,10,2)
robot_ctr.Set_override_ratio(20)
control_mode = int(args.control_mode)
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('hiwin_robot_sdk_'+robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip, connection_level=control_mode,name=robot_name)
robot_ctr.connect()
rate = rospy.Rate(10) # 10hz
rospy.Subscriber("obj_position",ROI,Yolo_callback)
try:
if robot_ctr.is_connected():
robot_ctr.Set_operation_mode(0)
# set tool & base coor
tool_coor = [0,0,180,180,0,0]
#base_coor = [0,0,0,0,0,0]
robot_ctr.Set_base_number(31)
#base_result = robot_ctr.Define_base(1,base_coor)
robot_ctr.Set_tool_number(1)
tool_result = robot_ctr.Define_tool(1,tool_coor)
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('hiwin_robot_sdk_' + robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip,
connection_level=control_mode,
name=robot_name)
robot_ctr.connect()
rate = rospy.Rate(10) # 10hz
a = rospy.Subscriber("obj_position", ROI_array, Yolo_callback)
#print("ffffff")
## strategy trigger
GetInfoFlag = True #Test no data
try:
if robot_ctr.is_connected():
robot_ctr.Set_operation_mode(0)
# set tool & base coor
# tool_coor = [0,0,180,0,0,0]
# base_coor = [0,0,0,0,0,0]
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('hiwin_robot_sdk_' + robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip,
connection_level=control_mode,
name=robot_name)
robot_ctr.connect()
try:
if robot_ctr.is_connected():
robot_ctr.Set_operation_mode(0)
# robot_ctr.Set_base_number(5)
robot_ctr.Set_base_number(0)
robot_ctr.Set_tool_number(15)
robot_ctr.Set_operation_mode(1)
robot_ctr.Set_override_ratio(10)
robot_ctr.Set_acc_dec_ratio(100)
while (1):
test_task()
if args.log_level == "DEBUG":
log_level = rospy.DEBUG
elif args.log_level == "ERROR":
log_level = rospy.ERROR
else:
log_level = rospy.INFO
# Start the ROS node
rospy.init_node('hiwin_robot_sdk_' + robot_name,
log_level=log_level,
disable_signals=True)
if rospy.get_param("use_sim_time", False):
rospy.logwarn("use_sim_time is set!!!")
robot_ctr = HiwinRobotInterface(robot_ip=robot_ip,
connection_level=control_mode,
name=robot_name)
robot_ctr.connect()
rate = rospy.Rate(10) # 10hz
rospy.Subscriber("obj_position", ROI, Yolo_callback)
try:
if robot_ctr.is_connected():
robot_ctr.Set_operation_mode(0)
# set tool & base coor
#tool_coor = [0,0,180,180,0,0]
#base_coor = [0,0,0,0,0,0]
robot_ctr.Set_base_number(5)
#base_result = robot_ctr.Define_base(1,base_coor)
robot_ctr.Set_tool_number(15)
