Robot sondeur

sudo apt install ros-melodic-rosbridge-library ros-melodic-rosbridge-server ros-melodic-rosserial-msgs ros-melodic-rosserial-client
ROS_MASTER_URI=http://10.42.0.49:11311


cd ~/ros_ws/src
# Do not get git clone https://github.com/Comau/eDO_core
git clone https://github.com/Comau/eDO_core_msgs
git clone https://github.com/Comau/eDO_description
git clone https://github.com/Comau/eDO_moveit

TODO

algorithm thing stop trajectory sensors control msgs in deps

E.do retroengineering

Nodes

$ rosnode list 
/aprik3_1460_1547199028921
/c5g_1481_1547199031203
/edo_algorithms
/edo_state_machine
/rosbridge_websocket
/rosout
/rosserial_server_serial_node
/rostopic_1562_1547199033282
/system_cmd_node

Services

$ rosservice list|grep -v logger
/algo_control_switch_srv
/algo_jnt_number_srv
/algo_load_configuration_file_srv
/machine_bridge_sw_version_srv
/system_command_srv

Service /system_command_srv

Served in https://github.com/Comau/eDO_core/blob/master/src/systemcmd.py Node: /system_cmd_node Type: edo_core_msgs/SystemCommand Args: command data

Command 0: return UTC Command 1: Set LAN IP Command 2: Get LAN IP Command 3: Set Wifi credentials Command 4: SSID

Service /algo_jnt_number_srv

rosservice call /algo_jnt_number_srv "{}" 
counter: 7
joints_mask: 127
joints_aux_mask: 64

counter = -2 when motors are off

Service /algo_control_switch_srv

rosservice info /algo_control_switch_srv
Node: /edo_algorithms
URI: rosrpc://192.168.12.1:60654
Type: edo_core_msgs/ControlSwitch
Args: mode

In order to disable the algorithm manager: rosservice call /algo_control_switch_srv "mode: 1"

Mode 0 = Take control Mode 1 = Release control

Get the current state:

rostopic echo /algorithm_state -n1

Available Algorithm states: NO MESSAGE PUBLISHED # Control released "UNINITIALIZED(0)" # Robot has just been powered up! "INITIALIZED(1)" # Motors are compliant "MOVING(2)", "WAITING(3)", "BLOCKED(4)", "FINISHED(5)", "PAUSE(6)", "RECOVERY(7)", "SWITCHED_OFF(8)"

Machine states

Get current state:

rostopic echo /machine_state -n1

COMMAND_STATE = 255, /* Temporary state when a command is executed / INIT = 0, / Initial State / NOT_CALIBRATE = 1, / Not calibrated / CALIBRATE = 2, / Calibrated / MOVE = 3, / Move execution in progress / JOG = 4, / Jog execution in progress / MACHINE_ERROR = 5, / Error state, needing a reboot / BRAKED = 6 / brake active, no motor power supply */

Machine opcode bits: NACK = 0, /* Bit 0 - At least 1 joint didn't send an ACK / JOINT_ABSENT = 1, / Bit 1 - A joint is not publishing its status. Hard stop. / JOINT_OVERCURRENT = 2, / Bit 2 - Joint in over current. Hard stop. / JOINT_UNCALIBRATED = 3, / Bit 3 - Joints not calibrated. Only jogs are accepted. / POSITION_ERROR = 4, / Bit 4 - Position error. Hard stop. / ROSSERIAL_ERROR = 5, / Bit 5 - Rosserial error. No state from joints. Hard stop. / BRAKE_ACTIVE = 6, / Bit 6 - Brake active. No power supply provided to motors. / EMERGENCY_STOP = 7, / Bit 7 - E-stop active / FENCE = 8 / Bit - Fence active */

Some topics

Joint state /machine_algo_jnt_state

edo_core_msgs/JointStateArray

USB Joint state ``

edo_core_msgs/JointStateArray Same as previous joint states, bypasses the state machine. To be preferred.

Cartesian EEF pose

edo_core_msgs/CartesianPose rosmsg show edo_core_msgs/CartesianPose float32 x float32 y float32 z float32 a float32 e float32 r string config_flags

rostopic echo /cartesian_pose -n1
x: -1.00390100479
y: -0.0482611581683
z: 1117.71777344
a: -176.291915894
e: 0.135620936751
r: -178.48449707
config_flags: "S E W "
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