edo_ui_python

This is a python script which serves as a bare replacement for EDO Android app.

This work is reverse engineering of a source that used to be on comau github page. Some ideas were also borrowed from this project.

Running the code

Before you can run the script, python package get-key needs to be installed. One of the easiest ways is through pip.
eDO_core_msgs needs to compiled in local ROS environment.
Export ROS environments.
Export ROS_IP and ROS_MASTER_URI according to your system.
Run python setup_edo.py

This script can set up the robot to a run mode when it boots up. After every turn on, robot's joints need calibrating procedure, since EDO has no breaks and the last three joints have no breaks.
Script can send a robot to home pose (vertical pose). When this execution is started, it is not possible to pouse robot movement.
It supports jogging in joint and cartesian space.
Short repetitions of movement in joint space is supported.
If emergency button is pressed, the script can power back the motors.

Rotations around the cartesian axis for jogging are not named correctly. Comau has some non-standard naming of angles. Also, rotations jogging is very slow and limited.
Robot can be stuck in mode 3 (MOVE), the script can not handle this situation. Using an app is advised in this case.
get-key works in blocking mode and together with "try and see" data from a robot, script can be stuck in some loop