Package Summary

Tags No category tags.
Version 0.4.11
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 2020-07-23
Dev Status DEVELOPED
CI status
Released RELEASED
Package 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

0.4.11 (2020-07-16)

  • Add feature to storage positions to file.
  • Contributors: Pilz GmbH and Co. KG
  • Add ability to store one position
  • Contributors: Pilz GmbH and Co. KG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged pilz_store_positions at answers.ros.org