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pilz_store_positions package from pilz_industrial_motion repopilz_extensions pilz_industrial_motion pilz_robot_programming pilz_store_positions pilz_trajectory_generation |
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Package Summary
| Tags | No category tags. |
| Version | 0.4.14 |
| License | LGPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PilzDE/pilz_industrial_motion.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2023-11-22 |
| Dev Status | END-OF-LIFE |
| CI status |
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| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Allows to store poses during teach-in.
Additional Links
Maintainers
- Joachim Schleicher
- Richard Feistenauer
- Tobias Vetter
Authors
No additional authors.
Store poses during teaching
After moving the robot to the desired position, you can store the current position to file.
To save the current robot pose as ros_msg to a file use rosrun pilz_store_postions store_current_pose.
The generated file is stored at your current directory as points.py and can be included into your pilz_robot_programming script as follows:
#!/usr/bin/env python
from pilz_robot_programming import *
import points as pts
import rospy
__REQUIRED_API_VERSION__ = "1" # API version
__ROBOT_VELOCITY__ = 0.5 # velocity of the robot
# main program
def start_program():
# move to start point with joint values to avoid random trajectory
r.move(Ptp(goal=pts.pick_pose, vel_scale=__ROBOT_VELOCITY__))
if __name__ == "__main__":
# init a rosnode
rospy.init_node('robot_program_node')
# initialisation
r = Robot(__REQUIRED_API_VERSION__) # instance of the robot
# start the main program
start_program()
while the generated points.py looks similar as:
from geometry_msgs.msg import Point
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Quaternion
pick_pose = Pose(
position = Point(
x = 0.07,
y = 0.40,
z = 0.50
),
orientation = Quaternion(
x = 1.0,
y = 0.0,
z = 0.0,
w = 0.0
)
)
Display Stored Points
Stored points can be published as target_frames. Those target frames can for example be displayed by Rviz.
To publish the points run:
rosrun pilz_store_positions pose_visualisation_node _file_path:="/absolute/path/to/points.py"
CHANGELOG
Changelog for package pilz_store_positions
0.4.14 (2021-07-22)
0.4.13 (2021-07-12)
0.4.12 (2020-11-24)
- Use new coverage feature of ros_pytest
- Contributors: Pilz GmbH and Co. KG
0.4.11 (2020-07-16)
- Add ability to store one position
- Contributors: Pilz GmbH and Co. KG
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.