A repository for establishing an interface to the P-Rob in ROS.

Clone the 'prob_interface' repository into your catkin workspace 'src' folder and run catkin_make. Make sure the PRob is connected to the same network as our machine and run a ROS master. In a second terminal, source first the your catkin workspace (ex. ~/catkin_ws/devel/setup.bash) and run

rosrun prob_interface prob_server.py <PROB_IP_ADDRESSS>

Replace <PROB_IP_ADDRESSS>with the IP of the robot. Now the robot is ready to be controlled through ROS service calls.

To initialize and calibrate the robot, you may run in a third terminal

rosrun prob_interface prob_initialize.py <CALIBRATE_FLAG>

If the robot should be calibrated, set CALIBRATE_FLAG to 0, otherwise to -1. After calibrating the robot, you may have a look into the demo script of the repository or execute it:

rosrun prob_interface client_function_demo.py

prob_interface - base class/package contains the prob_server that builds the connection to the P-Rob and handles all the traffic between ROS and the P-Rob

prob_msgs - collection of messages for interacting with the prob.

Please install `ros-indigo-desktop-full' for using this package

Builds the connection to the P-Rob over a socket and contains multiple services for sending commands to the P-Rrob

• ip (string, default: "127.0.0.1") - The ip of the host that runs myP

None at the moment

• connection (prob_msgs/Status) - Connection Info of the P-Rob
• status (prob_msgs/Status) - Status Info of the P-Rob
• position([prob_msgs/Array]) - Position of the P-Rob (X|Y|Z|Roll|Pich|Yaw)
• current([prob_msgs/Array]) - Currents in the joints of the P-Rob (1|2|3|4|5|6|7)
• actuator_angles([prob_msgs/Array]) - Angles of the joints of the P-Rob (1|2|3|4|5|6|7)

• move_joint (prob_msgs/MoveJoint) - move joint.
• move_tool (prob_msgs/MoveTool) - move tool.
• move_to_pose (prob_msgs/MoveToPose) - move to pose.
• wait_for_robot (prob_msgs/WaitForRobot) - wait until the robot's status is 1 for Ready again
• wait (prob_msgs/Wait) - Tell the robot to wait some time
• initialize (prob_msgs/Initialize) - Initialize the P-Rob.
• calibrate (prob_msgs/Calibrate) - Calibrate the P-Rob.
• test_script (prob_msgs/TestScript) - Send the P-Rob a Script to Execute.
• execute_script (prob_msgs/ExecuteScript) - Tell the P-Rob to execute a Script that is already on the P-Rob's database
• release (prob_msgs/Release) - Release one or more joints of the P-Rob.
• hold (prob_msgs/Release) - Hold one or more joints of the P-Rob.
• open_gripper (prob_msgs/OpenGripper) - Open the P-Rob's Gripper.
• close_gripper (prob_msgs/CloseGripper) - Close the P-Rob's Gripper.
• get_connection_info (prob_msgs/GetInfo) - Get the Connection Status of the P-Rob.
• get_status_info (prob_msgs/GetInfo) - Get the Status Info of the P-Rob.
• get_all_status (prob_msgs/GetInfoString) - Get all the Status infos.
• get_kinematic_indices (prob_msgs/GetInfoString) - Get all the Status infos.
• get_actuator_release_state (prob_msgs/GetInfoString) - Get all the Status infos.
• get_print_info (prob_msgs/GetInfoString) - Get all the Status infos.
• get_application_info (prob_msgs/GetInfoString) - Get all the Status infos.

rosrun prob_interface prob_server.py myp_host_ip

Runs a whole script file containing valid MyP script commands (See MyP Scriptcommand Refrence Manual) on the P-Rob

• filename (string) - The path and filename of the script. Ex: ~/scripts/script.script

rosrun prob_interface execute_script.py ~/scripts/test_script.script

Is a demo node for showing how one could work with the robot in ROS. It will initialize and calibrate the robot, move joint 5 to 90 degrees and the open and close the gripper.

rosrun prob_interface client_functions_demo.py

This node just prints the status of the robot every 2 second.

rosrun prob_interface prob_status.py

A Node for initializing and calibrating the robot

• model (String) - Model of the Robot that's connected. ex: 'PRob2R', 'PRob1R', 'PRob1Uplus', 'PRob1U'
• script_id (int) - -1: Calibrate with existing values, 0: calibrate the robot -> movement
• channel_name (String) - only needed if connected to a robot with usb, channel name is the device path of the usb. ex: '/dev/pcanusb2'

rosrun prob_interface prob_initialize.py PRob2R True /dev/pcanusb2

Is a demo node which takes the same arguments as move_joint and executes this command over the move_joint service

• joint_id (Int Array) - Ids of one or more joints that want to be moved
• Degree (Array) - Array of Degrees each joint should be moved
• Velocity (Int, default = 15) - Velocity
• Acceleration (Int, default = 60) - Acceleration
• Blocking (Bool, default = True) - Should the movement be blocking or not
• Relative (Bool, default = False) - Should the movement be relative to the current angle or not

rosrun prob_interface move_joint.py 1 50 50 50

Publishes an arrow marker, which can be plotted in rviz. This arrow shows the position and orientation of the tool center point

• connection (visualization_msgs/Marker) - Arrow Marker for rviz

Terminal 1:

rviz

Terminal 2:

rosrun prob_interface prob_plot.py