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Mathias Haage
GBS
Commits
b0920b27
Commit
b0920b27
authored
Oct 15, 2015
by
Mathias Haage
Browse files
Bump to v8
parent
0385dd45
Changes
7
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catkin_ws/src/gbs/CMakeLists.txt
View file @
b0920b27
...
...
@@ -67,6 +67,7 @@ add_service_files(
GBSLockTool.srv
GBSMeasureMove.srv
GBSNailLinMove.srv
GBSNailLinMoveArray.srv
GBSPTPMove.srv
GBSReadCurJointPose.srv
GBSReadSensor.srv
...
...
@@ -82,6 +83,9 @@ add_service_files(
GBSNailerDown.srv
GBSNailerUp.srv
GBSReadFlange.srv
GBSBlowPanel.srv
GBSRunDoubleSpindle.srv
GBSStopDoubleSpindle.srv
)
## Generate actions in the 'action' folder
...
...
catkin_ws/src/gbs/scripts/synch_gbs_server_rs_v8.py
0 → 100755
View file @
b0920b27
This diff is collapsed.
Click to expand it.
catkin_ws/src/gbs/scripts/test_client_synch_rs_v8.py
0 → 100755
View file @
b0920b27
#!/usr/bin/env python
import
sys
import
math
import
rospy
from
gbs.msg
import
*
from
gbs.srv
import
*
def
linmove
(
cmd
,
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
):
req
=
GBSLinMoveRequest
()
req
.
p
.
pos
.
x
=
x
req
.
p
.
pos
.
y
=
y
req
.
p
.
pos
.
z
=
z
req
.
p
.
ori
.
c
=
c
req
.
p
.
ori
.
b
=
b
req
.
p
.
ori
.
a
=
a
req
.
s
=
s
req
.
ac
=
ac
resp
=
cmd
(
req
)
return
resp
def
ptpmove
(
cmd
,
j1
,
j2
,
j3
,
j4
,
j5
,
j6
,
s
,
ac
):
req
=
GBSPTPMoveRequest
()
req
.
p
.
j1
=
j1
req
.
p
.
j2
=
j2
req
.
p
.
j3
=
j3
req
.
p
.
j4
=
j4
req
.
p
.
j5
=
j5
req
.
p
.
j6
=
j6
req
.
s
=
s
req
.
ac
=
ac
resp
=
cmd
(
req
)
return
resp
#def readlibrary(array):
# i = array.n
# array.array[0+i] = 2
# array.array[1+i] = 1
# array.array[2+i] = 4
# array.n = i + 3
def
readcurrentrobotpos
(
cmd
):
req
=
GBSReadCurJointPoseRequest
()
resp
=
cmd
(
req
)
return
resp
def
locktool
(
cmd
):
req
=
GBSLockToolRequest
()
resp
=
cmd
(
req
)
return
resp
def
unlocktool
(
cmd
):
req
=
GBSUnlockToolRequest
()
resp
=
cmd
(
req
)
return
resp
def
measuremove
(
cmd
,
id
,
j1
,
j2
,
j3
,
j4
,
j5
,
j6
,
s
,
ac
):
req
=
GBSMeasureMoveRequest
()
req
.
id
=
id
req
.
p
.
j1
=
j1
req
.
p
.
j2
=
j2
req
.
p
.
j3
=
j3
req
.
p
.
j4
=
j4
req
.
p
.
j5
=
j5
req
.
p
.
j6
=
j6
req
.
s
=
s
req
.
ac
=
ac
resp
=
cmd
(
req
)
return
resp
def
naillinmove
(
cmd
,
id
,
bstop
,
s
,
ac
,
x1
,
y1
,
z1
,
c1
,
b1
,
a1
,
x2
,
y2
,
z2
,
c2
,
b2
,
a2
):
req
=
GBSNailLinMoveRequest
()
req
.
id
=
id
req
.
bstop
=
bstop
req
.
s
=
s
req
.
ac
=
ac
req
.
p1
.
pos
.
x
=
x1
req
.
p1
.
pos
.
y
=
y1
req
.
p1
.
pos
.
z
=
z1
req
.
p1
.
ori
.
c
=
c1
req
.
p1
.
ori
.
b
=
b1
req
.
p1
.
ori
.
a
=
a1
req
.
p2
.
pos
.
x
=
x2
req
.
p2
.
pos
.
y
=
y2
req
.
p2
.
pos
.
z
=
z2
req
.
p2
.
ori
.
c
=
c2
req
.
p2
.
ori
.
b
=
b2
req
.
p2
.
ori
.
a
=
a2
resp
=
cmd
(
req
)
return
resp
def
naillinmovearray
(
cmd
,
id
,
bstop
,
s
,
ac
,
*
pose
):
req
=
GBSNailLinMoveArrayRequest
()
req
.
id
=
id
req
.
bstop
=
bstop
req
.
s
=
s
req
.
ac
=
ac
for
i
in
range
(
len
(
pose
)
/
6
):
j
=
6
*
i
req
.
p
.
append
(
GBSPose
())
req
.
p
[
i
].
pos
.
x
=
pose
[
j
]
req
.
p
[
i
].
pos
.
y
=
pose
[
j
+
1
]
req
.
p
[
i
].
pos
.
z
=
pose
[
j
+
2
]
req
.
p
[
i
].
ori
.
c
=
pose
[
j
+
3
]
req
.
p
[
i
].
ori
.
b
=
pose
[
j
+
4
]
req
.
p
[
i
].
ori
.
a
=
pose
[
j
+
5
]
resp
=
cmd
(
req
)
return
resp
def
circmove
(
cmd
,
xi
,
yi
,
zi
,
ci
,
bi
,
ai
,
xf
,
yf
,
zf
,
cf
,
bf
,
af
,
s
,
ac
):
req
=
GBSCircMoveRequest
()
req
.
pi
.
pos
.
x
=
xi
req
.
pi
.
pos
.
y
=
yi
req
.
pi
.
pos
.
z
=
zi
req
.
pi
.
ori
.
c
=
ci
req
.
pi
.
ori
.
b
=
bi
req
.
pi
.
ori
.
a
=
ai
req
.
pf
.
pos
.
x
=
xf
req
.
pf
.
pos
.
y
=
yf
req
.
pf
.
pos
.
z
=
zf
req
.
pf
.
ori
.
c
=
cf
req
.
pf
.
ori
.
b
=
bf
req
.
pf
.
ori
.
a
=
af
req
.
s
=
s
req
.
ac
=
ac
resp
=
cmd
(
req
)
return
resp
def
combmove
(
cmd
,
cmdarray
):
req
=
GBSCombMoveRequest
()
req
.
n
=
len
(
cmdarray
)
for
j
in
range
(
len
(
cmdarray
)):
req
.
array
[
j
]
=
cmdarray
[
j
]
resp
=
cmd
(
req
)
return
resp
def
runspindle
(
cmd
,
rpm
):
req
=
GBSRunSpindleRequest
()
req
.
rpm
=
rpm
resp
=
cmd
(
req
)
return
resp
def
stopspindle
(
cmd
):
req
=
GBSStopSpindleRequest
()
resp
=
cmd
(
req
)
return
resp
def
lockspindle
(
cmd
):
req
=
GBSLockSpindleRequest
()
resp
=
cmd
(
req
)
return
resp
def
unlockspindle
(
cmd
):
req
=
GBSUnlockSpindleRequest
()
resp
=
cmd
(
req
)
return
resp
def
getmeasure
(
cmd
):
req
=
GBSReadSensorRequest
()
resp
=
cmd
(
req
)
return
resp
def
takepanel
(
cmd
):
req
=
GBSTakePanelRequest
()
resp
=
cmd
(
req
)
return
resp
def
releasepanel
(
cmd
):
req
=
GBSReleasePanelRequest
()
resp
=
cmd
(
req
)
return
resp
def
switchvacuum
(
cmd
):
req
=
GBSSwitchVacuumRequest
()
resp
=
cmd
(
req
)
return
resp
def
shakevacuum
(
cmd
):
req
=
GBSShakeVacuumRequest
()
resp
=
cmd
(
req
)
return
resp
def
readlaser
(
cmd
):
req
=
GBSReadLaserRequest
()
resp
=
cmd
(
req
)
return
resp
def
nailerdown
(
cmd
):
req
=
GBSNailerDownRequest
()
req
.
id
=
1
resp
=
cmd
(
req
)
return
resp
def
nailerup
(
cmd
):
req
=
GBSNailerUpRequest
()
req
.
id
=
1
resp
=
cmd
(
req
)
return
resp
def
readflange
(
cmd
):
req
=
GBSReadFlangeRequest
()
resp
=
cmd
(
req
)
return
resp
def
rundoublespindle
(
cmd
,
rpm
):
req
=
GBSRunDoubleSpindleRequest
()
req
.
rpm
=
rpm
resp
=
cmd
(
req
)
return
resp
def
stopdoublespindle
(
cmd
):
req
=
GBSStopDoubleSpindleRequest
()
resp
=
cmd
(
req
)
return
resp
def
blowpanel
(
cmd
):
req
=
GBSBlowPanelRequest
()
resp
=
cmd
(
req
)
return
resp
def
test_readflange
(
gbs_readflange
):
ans
=
readflange
(
gbs_readflange
)
print
"readflange:"
print
"x "
+
str
(
ans
.
pose
.
pos
.
x
)
print
"y "
+
str
(
ans
.
pose
.
pos
.
y
)
print
"z "
+
str
(
ans
.
pose
.
pos
.
z
)
print
"c "
+
str
(
ans
.
pose
.
ori
.
c
)
print
"b "
+
str
(
ans
.
pose
.
ori
.
b
)
print
"a "
+
str
(
ans
.
pose
.
ori
.
a
)
print
def
test
():
rospy
.
wait_for_service
(
'gbs_linmove'
)
rospy
.
wait_for_service
(
'gbs_ptpmove'
)
rospy
.
wait_for_service
(
'gbs_jointpose'
)
rospy
.
wait_for_service
(
'gbs_locktool'
)
rospy
.
wait_for_service
(
'gbs_unlocktool'
)
rospy
.
wait_for_service
(
'gbs_measuremove'
)
rospy
.
wait_for_service
(
'gbs_naillinmove'
)
rospy
.
wait_for_service
(
'gbs_naillinmovearray'
)
rospy
.
wait_for_service
(
'gbs_circmove'
)
rospy
.
wait_for_service
(
'gbs_combmove'
)
rospy
.
wait_for_service
(
'gbs_runspindle'
)
rospy
.
wait_for_service
(
'gbs_stopspindle'
)
rospy
.
wait_for_service
(
'gbs_lockspindle'
)
rospy
.
wait_for_service
(
'gbs_unlockspindle'
)
rospy
.
wait_for_service
(
'gbs_readsensor'
)
rospy
.
wait_for_service
(
'gbs_takepanel'
)
rospy
.
wait_for_service
(
'gbs_releasepanel'
)
rospy
.
wait_for_service
(
'gbs_switchvacuum'
)
rospy
.
wait_for_service
(
'gbs_shakevacuum'
)
rospy
.
wait_for_service
(
'gbs_readlaser'
)
rospy
.
wait_for_service
(
'gbs_nailerdown'
)
rospy
.
wait_for_service
(
'gbs_nailerup'
)
rospy
.
wait_for_service
(
'gbs_readflange'
)
rospy
.
wait_for_service
(
'gbs_blowpanel'
)
rospy
.
wait_for_service
(
'gbs_rundoublespindle'
)
rospy
.
wait_for_service
(
'gbs_stopdoublespindle'
)
try
:
gbs_linmove
=
rospy
.
ServiceProxy
(
'gbs_linmove'
,
GBSLinMove
)
gbs_ptpmove
=
rospy
.
ServiceProxy
(
'gbs_ptpmove'
,
GBSPTPMove
)
gbs_jointpose
=
rospy
.
ServiceProxy
(
'gbs_jointpose'
,
GBSReadCurJointPose
)
gbs_locktool
=
rospy
.
ServiceProxy
(
'gbs_locktool'
,
GBSLockTool
)
gbs_unlocktool
=
rospy
.
ServiceProxy
(
'gbs_unlocktool'
,
GBSUnlockTool
)
gbs_measuremove
=
rospy
.
ServiceProxy
(
'gbs_measuremove'
,
GBSMeasureMove
)
gbs_naillinmove
=
rospy
.
ServiceProxy
(
'gbs_naillinmove'
,
GBSNailLinMove
)
gbs_naillinmovearray
=
rospy
.
ServiceProxy
(
'gbs_naillinmovearray'
,
GBSNailLinMoveArray
)
gbs_circmove
=
rospy
.
ServiceProxy
(
'gbs_circmove'
,
GBSCircMove
)
gbs_combmove
=
rospy
.
ServiceProxy
(
'gbs_combmove'
,
GBSCombMove
)
gbs_runspindle
=
rospy
.
ServiceProxy
(
'gbs_runspindle'
,
GBSRunSpindle
)
gbs_stopspindle
=
rospy
.
ServiceProxy
(
'gbs_stopspindle'
,
GBSStopSpindle
)
gbs_lockspindle
=
rospy
.
ServiceProxy
(
'gbs_lockspindle'
,
GBSLockSpindle
)
gbs_unlockspindle
=
rospy
.
ServiceProxy
(
'gbs_unlockspindle'
,
GBSUnlockSpindle
)
gbs_readsensor
=
rospy
.
ServiceProxy
(
'gbs_readsensor'
,
GBSReadSensor
)
gbs_takepanel
=
rospy
.
ServiceProxy
(
'gbs_takepanel'
,
GBSTakePanel
)
gbs_releasepanel
=
rospy
.
ServiceProxy
(
'gbs_releasepanel'
,
GBSReleasePanel
)
gbs_switchvacuum
=
rospy
.
ServiceProxy
(
'gbs_switchvacuum'
,
GBSSwitchVacuum
)
gbs_shakevacuum
=
rospy
.
ServiceProxy
(
'gbs_shakevacuum'
,
GBSShakeVacuum
)
gbs_readlaser
=
rospy
.
ServiceProxy
(
'gbs_readlaser'
,
GBSReadLaser
)
gbs_nailerdown
=
rospy
.
ServiceProxy
(
'gbs_nailerdown'
,
GBSNailerDown
)
gbs_nailerup
=
rospy
.
ServiceProxy
(
'gbs_nailerup'
,
GBSNailerUp
)
gbs_readflange
=
rospy
.
ServiceProxy
(
'gbs_readflange'
,
GBSReadFlange
)
gbs_blowpanel
=
rospy
.
ServiceProxy
(
'gbs_blowpanel'
,
GBSBlowPanel
)
gbs_rundoublespindle
=
rospy
.
ServiceProxy
(
'gbs_rundoublespindle'
,
GBSRunDoubleSpindle
)
gbs_stopdoublespindle
=
rospy
.
ServiceProxy
(
'gbs_stopdoublespindle'
,
GBSStopDoubleSpindle
)
print
"Lin Move"
ans
=
linmove
(
gbs_linmove
,
2
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
),
1
,
1
)
test_readflange
(
gbs_readflange
)
print
"Lin Move"
ans
=
linmove
(
gbs_linmove
,
0
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
),
1
,
1
)
test_readflange
(
gbs_readflange
)
print
"PTP Move"
ans
=
ptpmove
(
gbs_ptpmove
,
2000
,
0
,
0
,
0
,
5
,
0
,
1
,
1
)
print
"PTP Move"
ans
=
ptpmove
(
gbs_ptpmove
,
1000
,
0
,
0
,
0
,
5
,
0
,
1
,
1
)
##readlibrary(array)
print
"Read joint pose"
ans
=
readcurrentrobotpos
(
gbs_jointpose
)
print
'Current robot pose ['
+
str
(
ans
.
p
.
j1
)
+
','
+
str
(
ans
.
p
.
j2
)
+
','
+
str
(
ans
.
p
.
j3
)
+
','
+
str
(
ans
.
p
.
j4
)
+
','
+
str
(
ans
.
p
.
j5
)
+
','
+
str
(
ans
.
p
.
j6
)
+
']'
print
"Lock tool"
ans
=
locktool
(
gbs_locktool
)
print
"Unlock tool"
ans
=
unlocktool
(
gbs_unlocktool
)
print
"Measure move"
ans
=
measuremove
(
gbs_measuremove
,
1000
,
0
,
0
,
0
,
5
,
0
,
0
,
1
,
1
)
print
"Nail move"
ans
=
naillinmove
(
gbs_naillinmove
,
1
,
1
,
1
,
1
,
0
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
),
2
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
))
print
"Nail move array"
ans
=
naillinmovearray
(
gbs_naillinmovearray
,
2
,
1
,
1
,
1
,
0
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
),
1
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
),
2
,
0
,
-
0.6
,
math
.
radians
(
0
),
math
.
radians
(
0
),
math
.
radians
(
-
175
))
##ans = circmove(gbs_circmove, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5)
#print "Move"
#ans = combmove(gbs_combmove, (1, 0,0,0,0,0,0,10,5, 10, 100,0,0,35,0,0,15,25,35,1,2,3,10,5, 2, 1,2,3,4,5,6,10,5))
print
"Run spindle"
ans
=
runspindle
(
gbs_runspindle
,
5000
)
print
"Stop spindle"
ans
=
stopspindle
(
gbs_stopspindle
)
print
"Lock spindle"
ans
=
lockspindle
(
gbs_lockspindle
)
print
"Unlock spindle"
ans
=
unlockspindle
(
gbs_unlockspindle
)
print
"Get measure"
ans
=
getmeasure
(
gbs_readsensor
)
print
"Take panel"
ans
=
takepanel
(
gbs_takepanel
)
print
"Release panel"
ans
=
releasepanel
(
gbs_releasepanel
)
print
"Switch vacuum"
ans
=
switchvacuum
(
gbs_switchvacuum
)
print
"Shake vacuum"
ans
=
shakevacuum
(
gbs_shakevacuum
)
print
"Nailer down"
ans
=
nailerdown
(
gbs_nailerdown
)
print
"Nailer up"
ans
=
nailerup
(
gbs_nailerup
)
print
"Read laser"
ans
=
readlaser
(
gbs_readlaser
)
print
"Distance "
+
str
(
ans
.
distance
)
print
"Blow panel"
ans
=
blowpanel
(
gbs_blowpanel
)
print
"Run double spindle"
ans
=
rundoublespindle
(
gbs_rundoublespindle
,
5000
)
print
"Stop double spindle"
ans
=
stopdoublespindle
(
gbs_stopdoublespindle
)
except
rospy
.
ServiceException
,
e
:
print
"Service call failed: %s"
%
e
def
usage
():
return
"%s"
.
s
.
argv
[
0
]
if
__name__
==
"__main__"
:
test
()
catkin_ws/src/gbs/srv/GBSBlowPanel.srv
0 → 100644
View file @
b0920b27
---
float32 err
catkin_ws/src/gbs/srv/GBSNailLinMoveArray.srv
0 → 100644
View file @
b0920b27
int32 id
bool bstop
float32 s
float32 ac
GBSPose[] p
---
float32 err1
float32 err2
catkin_ws/src/gbs/srv/GBSRunDoubleSpindle.srv
0 → 100644
View file @
b0920b27
float32 rpm
---
float32 err
catkin_ws/src/gbs/srv/GBSStopDoubleSpindle.srv
0 → 100644
View file @
b0920b27
---
float32 err
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