takahasi / URRobotControllerRTC

RTC of Universal Robot (URx) for OpenRTM-aist

URRobotControllerRTC

This is RT-Component(RTC) for Universal Robot(URx)

Service Port

ManipulatorCommonInterfaceIDL

• ManipulatorCommonInterface

InterfaceName	Support
clearAlarms
getActiveAlarm
getFeedbackPosJoint	○
getManipInfo	○
getSoftLimitJoint	○
getState	○
servoOFF
servoON
setSoftLimitJoint

• ManipulatorMiddleInterface

InterfaceName	Support
closeGripper	○
getBaseOffset	○
getFeedBackPosCartesian
getMaxSpeedCartesian
getMaxSpeedJoint	○
getMinAccelTimeCartesian
getMinAccelTimeJoint
getSoftLimitCartesian
moveGripper	○
moveLinearCartesianAbs
moveLinearCartesianRel
movePTPJointAbs	○
movePTPJointRel	○
openGripper	○
pause	○
resume	○
stop	○
setAccelTimeJoint
setBaseOffset
setControlPointOffset
setMaxSpeedCartesian
setMaxSpeedJoint
setMinAccelTimeCartesian
setMinAccelTimeJoint
setSoftLimitCartesian
setSpeedCartesian
setSpeedJoint
moveCircularCartesianAbs
moveCircularCartesianRel
setHome	○
getHome	○
goHome	○

Preparation

$ sudo pip install urx
$ sudo pip install math3d

Required version: urx >= 0.11

Usage

$ python URRobotControllerRTC.py

Unit Test (Use real robot)

Connects actual URx robot via network

$ python test/test_robot.py

Unit Test (Use dummy server)

$ git clone https://github.com/SintefRaufossManufacturing/python-urx
$ python python-urx/tools/fakerobot.py
$ python tests/test_fakerobot.py

Integration Test

$ sh tests/test_component.sh