def init_robot_com(self, HOST, ROBOT_PORT):
logging.basicConfig(level=logging.INFO)
conf = rtde_config.ConfigFile('record_configuration.xml')
self.output_names, self.output_types = conf.get_recipe('out')
self.robot_con = rtde.RTDE(HOST, ROBOT_PORT)
try:
self.robot_con.connect()
# get controller version
self.robot_con.get_controller_version()
# setup recipes
if not self.robot_con.send_output_setup(
self.output_names, self.output_types, frequency=500):
logging.error('Unable to configure output')
return
# start data synchronization
if not self.robot_con.send_start():
logging.error('Unable to start synchronization')
return
self.robot_connected = True
except:
logging.error("Can not connect to the robot")
return
def check_grasp():
con = rtde.RTDE(HOST, 30004)
con.connect()
output_names = ['tool_analog_input0']
output_types = ['DOUBLE']
con.send_output_setup(output_names, output_types, frequency=125)
con.send_start()
state = con.receive(True)
voltage = struct.unpack('!d', state)
return voltage[0] > 0.3
parser.add_argument('--host', default='192.168.175.128', help='name of host to connect to (localhost)')
parser.add_argument('--port', type=int, default=30004, help='port number (30004)')
parser.add_argument('--samples', type=int, default=0, help='number of samples to record')
parser.add_argument('--frequency', type=int, default=125, help='the sampling frequency in Herz')
parser.add_argument('--config', default='record_configuration.xml', help='data configuration file to use (record_configuration.xml)')
parser.add_argument('--output', default='ursim_movel_x400.csv', help='data output file to write to (robot_data1.csv)')
parser.add_argument("--verbose", help="increase output verbosity", action="store_true")
args = parser.parse_args()
if args.verbose:
logging.basicConfig(level=logging.INFO)
conf = rtde_config.ConfigFile(args.config)
output_names, output_types = conf.get_recipe('out')
con = rtde.RTDE(HOST, args.port)
con.connect()
# get controller version
con.get_controller_version()
# setup recipes
if not con.send_output_setup(output_names, output_types, frequency = args.frequency):
logging.error('Unable to configure output')
sys.exit()
#start data synchronization
if not con.send_start():
logging.error('Unable to start synchronization')
sys.exit()
self.send_response(200)
self.end_headers()
# Add these headers to all responses
def end_headers(self):
self.send_header("Access-Control-Allow-Headers",
"Origin, X-Requested-With, Content-Type, Accept")
self.send_header("Access-Control-Allow-Origin", "*")
SimpleXMLRPCRequestHandler.end_headers(self)
conf = rtde_config.ConfigFile(
"/home/administrator/husky_ws/src/ur_pick/node/ur5_interface_configuration.xml"
)
output_names, output_types = conf.get_recipe('out')
rtde_proxy = rtde.RTDE("192.168.1.20", 30004)
rtde_proxy.connect()
if not rtde_proxy.send_output_setup(output_names, output_types):
print('wrong config file')
exit()
def get_tcp_pose():
rtde_proxy.send_start()
state = rtde_proxy.receive()
tcp_pose = state.actual_TCP_pose
rtde_proxy.send_pause()
print(tcp_pose)
return tcp_pose
#Initial Values
datarate = 10 # Time interval for data logging in Hz
#######################################################
ROBOT_HOST = 'localhost' #'192.168.1.103'
ROBOT_PORT = 30004
config_filename = 'control_loop_configuration.xml'
keep_running = True
#Initialize RTDE Connection
logging.getLogger().setLevel(logging.INFO)
conf = rtde_config.ConfigFile(config_filename)
state_names, state_types = conf.get_recipe('state')
watchdog_names, watchdog_types = conf.get_recipe('watchdog')
con = rtde.RTDE(ROBOT_HOST, ROBOT_PORT)
con.connect()
connected = con.is_connected()
if connected == True:
print('Connected')
# get controller version
con.get_controller_version()
# setup recipes
con.send_output_setup(state_names, state_types)
watchdog = con.send_input_setup(watchdog_names, watchdog_types)
sensor_data = {}
# The function "rtde_set_watchdog" in the "rtde_control_loop.urp" creates a 1 Hz watchdog
watchdog.input_int_register_0 = 0