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"dataType": "pose", "availableOptions": [], "constraints": [], "title": "camera_pose", "paramId": "50401f27-288f-4728-bfdc-bd87177b0fe2", "parameters": [ { "displayTitle": "position", "description": null, "type": "group", "dataType": "position", "availableOptions": [], "constraints": [], "title": "position", "paramId": "42a63607-0913-4ae0-b7fd-05b2583b6156", "parameters": [ { "displayTitle": "x", "description": null, "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "m", "title": "x", "paramId": "552c5aa7-39ac-48ff-9dbc-5c6d5cfbb89e", "value": null, "parameters": [] }, { "displayTitle": "y", "description": null, "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "m", "title": "y", "paramId": "a1f93062-3905-4d52-86c3-ed5d3cd76f1c", "value": null, "parameters": [] }, { "displayTitle": "z", "description": null, "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "m", "title": "z", "paramId": "5f87fe45-e6b9-4f53-bbbf-dbdccd33df5f", "value": null, "parameters": [] } ] }, { "displayTitle": "orientation", "description": "Rotation around axes in order ZYX", "type": "group", "dataType": "orientation", "availableOptions": [], "constraints": [], "title": "orientation", "paramId": "ecd8e498-67ea-4ccf-badb-ded204146009", "parameters": [ { "displayTitle": "z", "description": "Rotation around z", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "rad", "title": "z", "paramId": "8d459175-a2eb-43ee-89f0-af30de1d0614", "value": null, "parameters": [] }, { "displayTitle": "y", "description": "Rotation around y", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "rad", "title": "y", "paramId": "135c38e7-080c-4373-8f0b-325d8b304eae", "value": null, "parameters": [] }, { "displayTitle": "x", "description": "Rotation around x", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "rad", "title": "x", "paramId": "a337cb89-67ec-4579-a1cc-67d3fd9aacc5", "value": null, "parameters": [] } ] } ] }, { "displayTitle": "residual_error", "description": "The remaining residual error in the range from 0.0 to 1.0.", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "title": "residual_error", "paramId": "c3c1b887-210d-43e1-815c-73f9ff2131e9", "value": null, "parameters": [] } ], "globalParameters": [], "type": "Reference", "reference": "54e64b7c-9e5a-4c87-8b54-03171b7dfc86", "errorflows": [] }, { "skip": false, "title": "To String Success", "inputParameters": [ { "displayTitle": "Value", "description": null, "type": "primitive", "dataType": "boolean", "availableOptions": [], "constraints": [], "title": "value", "paramId": "d9e88d4f-5734-4fef-aff4-c19c33e8dbf3", "value": "true", "reference": "039fd16e-a9d5-4c08-9001-97e52497eea1", "parameters": [] } ], "outputParameters": [ { "displayTitle": "Text", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "text", "paramId": "10ac1afd-f84e-4ab3-81ce-e40f2747133f", "value": null, "parameters": [] } ], "globalParameters": [], "type": "Reference", "reference": "b2b71f88-a186-4bf0-89f7-47935faf3914", "errorflows": [] }, { "skip": false, "title": "To String Residual Error", "inputParameters": [ { "displayTitle": "Number", "description": null, "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "title": "number", "paramId": "0e8bed52-547e-408b-a017-fb6f530cc253", "value": "1", "reference": "c3c1b887-210d-43e1-815c-73f9ff2131e9", "parameters": [] } ], "outputParameters": [ { "displayTitle": "Text", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "text", "paramId": "66c56dbf-22cd-4b5a-9484-fde0830c19cb", "value": null, "parameters": [] } ], "globalParameters": [], "type": "Reference", "reference": "10313f74-d256-4d68-b385-00839112320f", "errorflows": [] }, { "skip": false, "title": "Combine - Strings", "inputParameters": [ { "displayTitle": "String List", "description": "List of string parts to concatenate.", "type": "list", "dataType": "string_list", "availableOptions": [], "constraints": [], "title": "string_list", "paramId": "732562bd-7086-4adc-8ff9-81c834a9d085", "value": null, "reference": null, "parameters": [ { "displayTitle": "String", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "string_element", "paramId": "27ad10b2-d65d-4272-8363-385099612b7d", "value": "Calibration Success: ", "reference": null, "parameters": [] }, { "displayTitle": "String", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "string_element", "paramId": "a2f022ca-2a2c-4aab-b7da-0fe2b3183e98", "value": null, "reference": "10ac1afd-f84e-4ab3-81ce-e40f2747133f", "refTo": null, "parameters": [] }, { "displayTitle": "String", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "string_element", "paramId": "322701fa-8cc0-4471-a681-2a46020bbe2d", "value": "; Residual Error: ", "reference": null, "refTo": null, "parameters": [] }, { "displayTitle": "String", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "string_element", "paramId": "3c1c6f56-3553-466e-a6d1-73669d7c9007", "value": null, "reference": "66c56dbf-22cd-4b5a-9484-fde0830c19cb", "refTo": null, "parameters": [] } ] } ], "outputParameters": [ { "displayTitle": "Result", "description": null, "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "result", "paramId": "a3722aa7-1509-4c6f-b65c-33910e695f3a", "value": null, "parameters": [] } ], "globalParameters": [], "type": "Reference", "reference": "2e8bd3fa-161b-4a0e-a6b5-5eb58d21550d", "errorflows": [] }, { "skip": false, "title": "User Dialog", "inputParameters": [ { "displayTitle": "Message", "description": "Text to be displayed in message.", "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "message", "paramId": "77a03ffd-8cf2-4b1d-9b42-64ea2c23a48c", "value": null, "reference": "a3722aa7-1509-4c6f-b65c-33910e695f3a", "parameters": [] }, { "displayTitle": "Buttons", "description": null, "type": "list", "dataType": "options", "availableOptions": [], "constraints": [], "title": "buttons", "paramId": "540fae85-8a10-48db-8676-730a973f83c9", "value": null, "reference": null, "parameters": [ { "displayTitle": "Button Settings", "description": "Settings for button.", "type": "group", "dataType": "button", "availableOptions": [], "constraints": [], "title": "button_caption", "paramId": "6fe39ba9-1489-4b0e-8e3f-927486fa504a", "value": null, "reference": null, "parameters": [ { "displayTitle": "Button Text", "description": "Text displayed on button.", "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "button_value", "paramId": "c8180381-c50b-4d63-abe7-21b602e5b238", "value": "OK", "reference": null, "parameters": [] }, { "displayTitle": "Button Result Code", "description": "Result code of button.", "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "button_result_code", "paramId": "6824dd05-6dbc-4e27-9668-13c9a36e369d", "value": "0", "reference": null, "parameters": [] } ] } ] } ], "outputParameters": [ { "displayTitle": "Result", "description": "Result code of clicked button.", "type": "primitive", "dataType": "string", "availableOptions": [], "constraints": [], "title": "result", "paramId": "5ed929c3-ff9e-4d5e-8ed4-d2bb57b409b1", "value": null, "parameters": [] } ], "globalParameters": [], "type": "Reference", "reference": "a9aaa488-b74f-4c74-9ad3-a05f67769a3a", "errorflows": [] } ] ], "version": "1.0.0-pre.15", "errorcodes": [], "skip": false, "type": "Program", "title": "Roboception rc_visard - Calibration Template", "description": null, "image": "dnb-icon-general_skill", "dependencies": [ { "version": "1.x", "internalId": "54e64b7c-9e5a-4c87-8b54-03171b7dfc86", "identifier": "6797b3a0-e30d-4704-a4f7-38d542fb41b7", "title": "Roboception - Finish Calibration" }, { "version": "1.x", "internalId": "c296dab3-c772-4fe2-8750-0fbd1e732df5", "identifier": "f4a383a4-c1c1-4a9a-8c2b-62fc4e1a0690", "title": "Roboception - Start Calibration" }, { "version": "3.x", "internalId": "182bf26c-4006-4b30-b658-b549bd6d0378", "identifier": "10ff6fb8-54a4-4ee4-a4ba-bc0dac617fdd", "title": "Roboception rc_visard - Calibration Step" }, { "version": "1.x", "internalId": "a9aaa488-b74f-4c74-9ad3-a05f67769a3a", "identifier": "25a6ffb5-ef13-4561-815b-baf3d516cf05", "title": "User Dialog" }, { "version": "1.x", "internalId": "2e8bd3fa-161b-4a0e-a6b5-5eb58d21550d", "identifier": "427fa90b-1fcf-495e-ba8b-8580448aa88b", "title": "Combine - Strings" }, { "version": "1.x", "internalId": "10313f74-d256-4d68-b385-00839112320f", "identifier": "aaea91ca-c384-483c-b09c-8e549f8feb91", "title": "To String - Float" }, { "version": "1.x", "internalId": "b2b71f88-a186-4bf0-89f7-47935faf3914", "identifier": "b4d5d684-841a-4c81-b1b1-bfeeee5360e7", "title": "To String - Boolean" } ], "identifier": "90cffd2d-26b9-4209-a7e3-370fcc7991c9", "inputParameters": [], "outputParameters": [], "globalParameters": [], "tcp": null, "models": [ { "version": "1.2.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "Roboception - Finish Calibration", "description": "Finish the extrinsic calibration process with the Roboception camera.", "image": "dnb-icon-camera", "script": "import rospy\n\nfrom std_srvs.srv import *\nfrom rc_hand_eye_calibration_client.srv import *\n\nfrom tf.transformations import euler_from_quaternion\n\n\ndef execute(input_parameters, output_parameters):\n\t# execute calibration\n\trospy.wait_for_service('/rc_calibration/calibrate')\n\texecute_calib_srv = rospy.ServiceProxy('/rc_calibration/calibrate', Calibration)\n\trequest = CalibrationRequest()\n\tresponse_calibrate = execute_calib_srv(request)\n\tif response_calibrate.success == False:\n\t\toutput_parameters[0]['value'] = False\n\t\treturn output_parameters\n\t\t\n\t\n\t# save calibration\n\trospy.wait_for_service('/rc_calibration/save_calibration')\n\tsave_calib_srv = rospy.ServiceProxy('/rc_calibration/save_calibration', Trigger)\n\trequest = TriggerRequest()\n\tresponse_save = save_calib_srv(request)\n\toutput_parameters[0]['value'] = response_save.success\n\t\n\tif response_calibrate.success == True and response_save.success == True:\n\t\t\n\t\tq = response_calibrate.pose.orientation\n\t\trotation = euler_from_quaternion([q.x, q.y, q.z, q.w], \"rzyx\")\n\n\t\t# Camera position\n\t\toutput_parameters[1]['parameters'][0]['parameters'][0]['value'] = float(response_calibrate.pose.position.x)\n\t\toutput_parameters[1]['parameters'][0]['parameters'][1]['value'] = float(response_calibrate.pose.position.y)\n\t\toutput_parameters[1]['parameters'][0]['parameters'][2]['value'] = float(response_calibrate.pose.position.z)\n\t\t# Camera orientation\n\t\toutput_parameters[1]['parameters'][1]['parameters'][0]['value'] = float(rotation[0])\n\t\toutput_parameters[1]['parameters'][1]['parameters'][1]['value'] = float(rotation[1])\n\t\toutput_parameters[1]['parameters'][1]['parameters'][2]['value'] = float(rotation[2])\n\t\t\n\t\toutput_parameters[2]['value'] = response_calibrate.error\n\t\n\treturn output_parameters", "identifier": "6797b3a0-e30d-4704-a4f7-38d542fb41b7", "inputParameters": [], "outputParameters": [ { "availableOptions": [], "paramId": "0b804fd9-15f3-4af6-a2ea-c2fafe723bcd", "displayTitle": "success", "title": "success", "description": "Indicates, whether the calibration process has sucessfully been finished.", "value": null, "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] }, { "availableOptions": [], "paramId": "b0ed3407-0e4c-4688-b7af-7a014ebc6f25", "displayTitle": "camera_pose", "title": "camera_pose", "description": "The resulting camera pose calculated from the calibration process.", "value": null, "type": "group", "parameters": [ { "availableOptions": [], "title": "position", "displayTitle": "position", "description": null, "type": "group", "value": null, "dataType": "position", "reference": null, "paramId": "d1e7f254-ed2d-4f8e-a4ac-708082f98c1b", "parameters": [ { "availableOptions": [], "title": "x", "displayTitle": "x", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "12d3dc4b-25a3-49ff-ae5e-8d5d6dd9aa28", "parameters": [], "constraints": [], "unit": "m" }, { "availableOptions": [], "title": "y", "displayTitle": "y", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "df4db5ca-fb10-4d17-b655-886d72a5e822", "parameters": [], "constraints": [], "unit": "m" }, { "availableOptions": [], "title": "z", "displayTitle": "z", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "7a3df271-456c-4543-961a-7016e2e80864", "parameters": [], "constraints": [], "unit": "m" } ], "constraints": [] }, { "availableOptions": [], "title": "orientation", "displayTitle": "orientation", "description": "Rotation around axes in order ZYX", "type": "group", "value": null, "dataType": "orientation", "reference": null, "paramId": "0394282f-d7eb-4de1-9259-9a114a4f619d", "parameters": [ { "availableOptions": [], "title": "z", "displayTitle": "z", "description": "Rotation around z", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "a7ea6fb9-b157-4281-bd2e-b13abd491f16", "parameters": [], "constraints": [], "unit": "rad" }, { "availableOptions": [], "title": "y", "displayTitle": "y", "description": "Rotation around y", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "0dfcf893-a8d7-4be8-8941-66f5280b47e3", "parameters": [], "constraints": [], "unit": "rad" }, { "availableOptions": [], "title": "x", "displayTitle": "x", "description": "Rotation around x", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "23bb35ca-a468-4dd6-b9f5-940b601cbb49", "parameters": [], "constraints": [], "unit": "rad" } ], "constraints": [] } ], "dataType": "pose", "reference": null, "constraints": [] }, { "availableOptions": [], "paramId": "c534ea3a-2376-4751-9336-6fcfa66246f0", "displayTitle": "residual_error", "title": "residual_error", "description": "The remaining residual error in the range from 0.0 to 1.0.", "value": null, "type": "primitive", "parameters": [], "dataType": "float", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null }, { "version": "1.2.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "Roboception - Start Calibration", "description": "Start the extrinsic calibration process with the Roboception camera.", "image": "dnb-icon-camera", "script": "#!/usr/bin/env python\nimport rospy\n\nfrom std_srvs.srv import *\nfrom rc_hand_eye_calibration_client.srv import *\nfrom dynamic_reconfigure.msg import *\nfrom dynamic_reconfigure.srv import *\n\nfrom tf.transformations import euler_from_quaternion\n\ndef execute(input_parameters, output_parameters):\n\t# remove old calibration\n\trospy.wait_for_service('/rc_calibration/remove_calibration')\n\tremove_calib_srv = rospy.ServiceProxy('/rc_calibration/remove_calibration', Trigger)\n\trequest = TriggerRequest()\n\tresponse = remove_calib_srv(request)\n\t\n\trospy.wait_for_service('/rc_calibration/set_parameters')\n\treconfig_calib_srv = rospy.ServiceProxy('/rc_calibration/set_parameters', Reconfigure)\n\t\n\t# prepare data for dynamic reconfigure\n\tparam_grid_width = DoubleParameter()\n\tparam_grid_width.name = 'grid_width'\n\tparam_grid_width.value = float(input_parameters[0]['value'])\n\t\n\tparam_grid_height = DoubleParameter()\n\tparam_grid_height.name = 'grid_height'\n\tparam_grid_height.value = float(input_parameters[1]['value'])\n\t\n\tparam_robot_mounted = BoolParameter()\n\tparam_robot_mounted.name = 'robot_mounted'\n\tparam_robot_mounted.value = (input_parameters[2]['value'].lower() == \"true\")\n\t\n\t# prepare service call\n\trequest = ReconfigureRequest()\n\trequest.config.bools.append(param_robot_mounted)\n\trequest.config.doubles.append(param_grid_width)\n\trequest.config.doubles.append(param_grid_height)\n\n\tresponse = reconfig_calib_srv(request)\n\treturn output_parameters\n", "identifier": "f4a383a4-c1c1-4a9a-8c2b-62fc4e1a0690", "inputParameters": [ { "availableOptions": [], "paramId": "22e55e84-1c43-4245-ad5e-b5c596a8be58", "displayTitle": "grid_width", "title": "grid_width", "description": "The grid width of the calibration sheet in meters.", "value": null, "type": "primitive", "parameters": [], "dataType": "float", "reference": null, "constraints": [], "unit": "m" }, { "availableOptions": [], "paramId": "4ba36240-ddaa-4a63-a0c3-f1791ad2d015", "displayTitle": "grid_height", "title": "grid_height", "description": "The grid height of the calibration sheet in meters.", "value": null, "type": "primitive", "parameters": [], "dataType": "float", "reference": null, "constraints": [], "unit": "m" }, { "availableOptions": [], "paramId": "8ea2cf4d-40bc-49f5-b57f-6ebc68218984", "displayTitle": "robot_mounted", "title": "robot_mounted", "description": "True, if the camera is mounted at the robot. False, if the camera is mounted fixed to the cell.", "value": null, "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] } ], "outputParameters": [], "globalParameters": [], "dependencies": null }, { "skillflow": [ [ { "skip": false, "title": "Move Joints - Step", "inputParameters": [ { "displayTitle": "Joint Trajectory", "description": "List of joint waypoints the robot will move to.", "type": "list", "dataType": "joint_trajectory", "availableOptions": [], "constraints": [], "title": "joint_trajectory", "paramId": "a7d7159b-1477-4430-bc35-2aaa5c6e09ff", "value": null, "reference": null, "parameters": [ { "displayTitle": "Waypoint Joints", "description": null, "type": "group", "dataType": "waypoint_joints", "availableOptions": [], "constraints": [], "title": "waypoint_joints", "paramId": "713cc9e8-ff50-4315-8de7-9f88c1c19c1c", "value": null, "reference": "a37f57f9-d4dc-4a12-aed7-dfce3b796185", "parameters": [ { "displayTitle": "Joints", "description": "Target joints in degrees", "type": "group", "dataType": "joints", "availableOptions": [], "constraints": [], "title": "joints", "paramId": "7b9fcaba-255f-462c-805d-e3873ccbdff6", "value": null, "reference": "c1623cd1-c8cb-4736-ac56-ebbedb3f4f2e", "parameters": [ { "displayTitle": "Joint 1", "description": "Joint 1 in degrees", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "deg", "title": "joint_1", "paramId": "cecee0aa-724d-42b5-8c77-a95caf8bd865", "value": null, "reference": "53f2f746-06f2-4499-957c-4fad1f226954", "parameters": [] }, { "displayTitle": "Joint 2", "description": "Joint 2 in degrees", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "deg", "title": "joint_2", "paramId": "1ed994dd-7866-4d19-bc77-aecbbd5d70fe", "value": null, "reference": "8e83e252-bb60-443b-989b-e82e478e3b6d", "parameters": [] }, { "displayTitle": "Joint 3", "description": "Joint 3 in degrees", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "deg", "title": "joint_3", "paramId": "d875850a-b829-462d-b9b6-df2a98b839b2", "value": null, "reference": "8a2ef73d-d1c1-4e6f-9c45-1cc46652f54b", "parameters": [] }, { "displayTitle": "Joint 4", "description": "Joint 4 in degrees", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "deg", "title": "joint_4", "paramId": "4b437353-c392-458e-84ad-29ba938a7a92", "value": null, "reference": "1f9d93d4-629f-4a5e-885b-8debfef52049", "parameters": [] }, { "displayTitle": "Joint 5", "description": "Joint 5 in degrees", "type": "primitive", "dataType": "float", "availableOptions": [], "constraints": [], "unit": "deg", "title": "joint_5", "paramId": "fd6f54da-b208-4668-bf8d-7d824b708824", "value": null, "reference": "067fed0f-2f75-4780-95ee-e598f2d66aae", "parameters": [] }, { "displayTitle": "Joint 6", "description": "Joint 6 in degrees", "type": "primitive", 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"427fa90b-1fcf-495e-ba8b-8580448aa88b", "title": "Combine - Strings" }, { "version": "1.x", "internalId": "552f5761-6945-46f5-bd1d-64140915bc12", "identifier": "f5f72f6c-f9fc-4f2f-8ea0-d6accad07dd8", "title": "To String - Integer" } ], "identifier": "10ff6fb8-54a4-4ee4-a4ba-bc0dac617fdd", "inputParameters": [ { "availableOptions": [], "displayTitle": "Calibration Step Waypoint", "description": null, "type": "group", "dataType": "waypoint_joints", "constraints": [], "title": "calibration_step_waypoint", "paramId": "a37f57f9-d4dc-4a12-aed7-dfce3b796185", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [ { "availableOptions": [], "displayTitle": "Joints", "description": "Target joints in degrees", "type": "group", "dataType": "joints", "constraints": [], "title": "joints", "paramId": "c1623cd1-c8cb-4736-ac56-ebbedb3f4f2e", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [ { "availableOptions": [], "displayTitle": "Joint 1", "description": "Joint 1 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_1", "paramId": "53f2f746-06f2-4499-957c-4fad1f226954", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [], "displayTitle": "Joint 2", "description": "Joint 2 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_2", "paramId": "8e83e252-bb60-443b-989b-e82e478e3b6d", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [], "displayTitle": "Joint 3", "description": "Joint 3 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_3", "paramId": "8a2ef73d-d1c1-4e6f-9c45-1cc46652f54b", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [], "displayTitle": "Joint 4", "description": "Joint 4 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_4", "paramId": "1f9d93d4-629f-4a5e-885b-8debfef52049", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [], "displayTitle": "Joint 5", "description": "Joint 5 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_5", "paramId": "067fed0f-2f75-4780-95ee-e598f2d66aae", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [], "displayTitle": "Joint 6", "description": "Joint 6 in degrees", "type": "primitive", "dataType": "float", "constraints": [], "unit": "deg", "title": "joint_6", "paramId": "84445ca9-710e-423e-b606-46127cff6660", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [] } ] }, { "availableOptions": [], "displayTitle": "Speed", "description": "Speed of robot movement", "type": "unitval", "dataType": "speed", "constraints": [], "title": "speed", "paramId": "ca787b6f-a3d7-4c13-ae6c-c8317c912cd7", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [ { "availableOptions": [], "displayTitle": "Speed Value", "description": null, "type": "primitive", "dataType": "float", "constraints": [], "title": "speed_value", "paramId": "b1762924-091f-44d6-94ae-4bb2eaff0d31", "value": "1.0", "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [ "DEG/S", "PERCENT" ], "displayTitle": "Speed Type", "description": null, "type": "select", "dataType": "string", "constraints": [], "title": "speed_type", "paramId": "7cf8080f-ba0c-48b4-a001-42daa9e5b69d", "value": "DEG/S", "reference": null, "refTo": null, "modifier": null, "parameters": [] } ] }, { "availableOptions": [], "displayTitle": "Acceleration", "description": "Acceleration of robot movement", "type": "unitval", "dataType": "acceleration", "constraints": [], "title": "acceleration", "paramId": "1a6c6c09-9544-40ed-9db6-d70eeaf35a9a", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [ { "availableOptions": [], "displayTitle": "Acceleration Value", "description": null, "type": "primitive", "dataType": "float", "constraints": [], "title": "acceleration_value", "paramId": "5e97bf94-0e04-4a17-8786-d544a15d65ec", "value": "50.0", "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [ "PERCENT" ], "displayTitle": "Acceleration Type", "description": null, "type": "select", "dataType": "string", "constraints": [], "title": "acceleration_type", "paramId": "23df5d5f-15d8-47cf-b3dd-f50a580b8f19", "value": "PERCENT", "reference": null, "refTo": null, "modifier": null, "parameters": [] } ] }, { "availableOptions": [], "displayTitle": "Blending", "description": "Positional blending between waypoint poses", "type": "unitval", "dataType": "blending", "constraints": [], "title": "blending", "paramId": "a7eefa3a-0b84-4b7f-918f-e14cc07db8ca", "value": null, "reference": null, "refTo": null, "modifier": null, "parameters": [ { "availableOptions": [], "displayTitle": "Blending Value", "description": null, "type": "primitive", "dataType": "float", "constraints": [], "title": "blending_value", "paramId": "7aca6ec2-bd0d-4915-85c2-0e642ba22961", "value": "0.0", "reference": null, "refTo": null, "modifier": null, "parameters": [] }, { "availableOptions": [ "PERCENT" ], "displayTitle": "Blending Type", "description": null, "type": "select", "dataType": "string", "constraints": [], "title": "blending_type", "paramId": "4f39cc52-c39e-4c89-898b-4946e4fc308d", "value": "PERCENT", "reference": null, "refTo": null, "modifier": null, "parameters": [] } ] } ] }, { "availableOptions": [], "displayTitle": "Step Number", "description": "The calibration pose number for this pose. Using the same step more than once within the calibration process will overwrite the old pose.", "type": "primitive", "dataType": "integer", "constraints": [], "title": "step_number", "paramId": "6eceee45-b59e-415d-9d89-240e31c0df47", "value": "1", "reference": null, "refTo": null, "modifier": null, "parameters": [] } ], "outputParameters": [], "globalParameters": [], "tcp": null }, { "version": "1.2.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "Roboception - Set Calibration Pose", "description": "Add a calibration pose to the extrinsic calibration process for the Roboception camera.", "image": "dnb-icon-camera", "script": "import rospy\nimport tf\n\nfrom geometry_msgs.msg import Pose\nfrom rc_hand_eye_calibration_client.srv import *\n\n\ndef execute(input_parameters, output_parameters):\n\t\n\t# convert pose from d&b to ROS\n\teuler_rotation = input_parameters[0]['parameters'][1]['parameters']\n\tq = tf.transformations.quaternion_from_euler(float(euler_rotation[0]['value']), float(euler_rotation[1]['value']), float(euler_rotation[2]['value']), \"rzyx\")\n\t\n\tpose = Pose()\n\tpose.position.x = float(input_parameters[0]['parameters'][0]['parameters'][0]['value'])\n\tpose.position.y = float(input_parameters[0]['parameters'][0]['parameters'][1]['value'])\n\tpose.position.z = float(input_parameters[0]['parameters'][0]['parameters'][2]['value'])\n\tpose.orientation.x = q[0]\n\tpose.orientation.y = q[1]\n\tpose.orientation.z = q[2]\n\tpose.orientation.w = q[3]\n\t\n\trospy.wait_for_service('/rc_calibration/set_pose')\n\tset_calib_pose_srv = rospy.ServiceProxy('/rc_calibration/set_pose', SetCalibrationPose)\n\t\n\t# prepare service call\n\trequest = SetCalibrationPoseRequest()\n\trequest.pose = pose\n\trequest.slot = int(input_parameters[1]['value'])\n\n\tresponse = set_calib_pose_srv(request)\n\t\n\tif response.status == 1 or response.status == 3:\n\t\toutput_parameters[0]['value'] = True\n\telse:\n\t\toutput_parameters[0]['value'] = False\n\t\t\n\tif response.status == 3:\n\t\toutput_parameters[1]['value'] = True\n\telse:\n\t\toutput_parameters[1]['value'] = False\n\t\n\treturn output_parameters", "identifier": "ca87110a-5074-4ab1-9829-dfb6290180f6", "inputParameters": [ { "availableOptions": [], "paramId": "0e457e70-4bdb-4f54-b5b5-b49e78d8f741", "displayTitle": "calibration_pose", "title": "calibration_pose", "description": "Pose to calibrate for the camera. The robot has to be at this pose and the camera has to recognize the calibration sheet when this function block is called.", "value": null, "type": "group", "parameters": [ { "availableOptions": [], "title": "position", "displayTitle": "position", "description": null, "type": "group", "value": null, "dataType": "position", "reference": null, "paramId": "4250a68d-1b36-4c94-9681-19875cb162d5", "parameters": [ { "availableOptions": [], "title": "x", "displayTitle": "x", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "f67ce1a4-ccc5-4dba-8283-55c724e8678d", "parameters": [], "constraints": [], "unit": "m" }, { "availableOptions": [], "title": "y", "displayTitle": "y", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "619ba54f-a40d-4b02-8b4c-14661f145f0f", "parameters": [], "constraints": [], "unit": "m" }, { "availableOptions": [], "title": "z", "displayTitle": "z", "description": null, "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "f8498920-a5ee-429e-a7e0-59fc97404010", "parameters": [], "constraints": [], "unit": "m" } ], "constraints": [] }, { "availableOptions": [], "title": "orientation", "displayTitle": "orientation", "description": "Rotation around axes in order ZYX", "type": "group", "value": null, "dataType": "orientation", "reference": null, "paramId": "efb12050-d4d1-4532-b1da-b56920ccf3ce", "parameters": [ { "availableOptions": [], "title": "z", "displayTitle": "z", "description": "Rotation around z", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "2a75b482-f689-4cb3-aa44-3e2883b566f6", "parameters": [], "constraints": [], "unit": "rad" }, { "availableOptions": [], "title": "y", "displayTitle": "y", "description": "Rotation around y", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "990d3753-300e-4708-9a09-aa1d79aad942", "parameters": [], "constraints": [], "unit": "rad" }, { "availableOptions": [], "title": "x", "displayTitle": "x", "description": "Rotation around x", "type": "primitive", "value": null, "dataType": "float", "reference": null, "paramId": "90980db8-7f68-4070-a3e1-2693b85965c7", "parameters": [], "constraints": [], "unit": "rad" } ], "constraints": [] } ], "dataType": "pose", "reference": null, "constraints": [] }, { "availableOptions": [], "paramId": "70fb2d02-75e1-4b74-80f6-cdba5edcb1c7", "displayTitle": "calibration_step", "title": "calibration_step", "description": "The calibration pose number for this pose. Using the same step more than once within the calibration process will overwrite the old pose.", "value": null, "type": "primitive", "parameters": [], "dataType": "integer", "reference": null, "constraints": [] } ], "outputParameters": [ { "availableOptions": [], "paramId": "0b804fd9-15f3-4af6-a2ea-c2fafe723bcd", "displayTitle": "success", "title": "success", "description": "Indicates, whether the given pose was accepted by the calibration process.", "value": null, "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] }, { "availableOptions": [], "paramId": "06e17e7b-b398-4be2-b53f-77c0e2c00fb1", "displayTitle": "calibration_ready", "title": "calibration_ready", "description": "Indicates, whether the calibration can be finished.", "value": null, "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null }, { "version": "1.3.0", "errorcodes": [], "skip": false, "type": "Basic", "inputParameters": [], "globalParameters": [], "outputParameters": [ { "availableOptions": [], "parameters": [ { "availableOptions": [], "parameters": [ { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "a41bb16c-6020-862e-571a-e86fe105a213", "title": "x", "description": null, "value": null, "type": "primitive", "dataType": "float", "reference": null, "displayTitle": "x", "unit": "m" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "4afa02d9-f62a-bbf5-ad2f-6b94b4e192a7", "title": "y", "description": null, "value": null, "type": "primitive", "dataType": "float", "reference": null, "displayTitle": "y", "unit": "m" }, { "availableOptions": [], "parameters": [], "constraints": [], "reference": null, "dataType": "float", "type": "primitive", "value": null, "description": null, "title": "z", "paramId": "305bab83-8af6-8035-1e5b-c4a4b0ed16c3", "displayTitle": "z", "unit": "m" } ], "constraints": [], "reference": null, "dataType": "position", "type": "group", "value": null, "description": null, "title": "position", "paramId": "03fe2b9b-902b-c666-7af6-242812378f67", "displayTitle": "Position" }, { "availableOptions": [], "parameters": [ { "availableOptions": [], "parameters": [], "constraints": [], "reference": null, "dataType": "float", "type": "primitive", "value": null, "description": "Rotation around Z", "title": "z", "paramId": "45edc5f2-e0c2-f825-d1d3-60b103279f76", "displayTitle": "z", "unit": "rad" }, { "availableOptions": [], "parameters": [], "constraints": [], "reference": null, "dataType": "float", "type": "primitive", "value": null, "description": "Rotation around Y", "title": "y", "paramId": "91766603-df88-7bb6-7b72-a871706e1bd6", "displayTitle": "y", "unit": "rad" }, { "availableOptions": [], "parameters": [], "constraints": [], "reference": null, "dataType": "float", "type": "primitive", "value": null, "description": "Rotation around X", "title": "x", "paramId": "526e425b-0a79-acb9-816b-ad71ddf5f4c6", "displayTitle": "x", "unit": "rad" } ], "constraints": [], "reference": null, "dataType": "orientation", "type": "group", "value": null, "description": "Rotation around axes in order ZYX", "title": "orientation", "paramId": "c86513ad-ab5d-bee5-d346-54d6b766db82", "displayTitle": "Orientation" } ], "constraints": [], "reference": null, "dataType": "pose", "type": "group", "value": null, "description": null, "title": "pose", "paramId": "9587fadd-a133-791e-cfed-faec3a1ca8c2", "displayTitle": "Pose" } ], "script": "#!/usr/bin/env python\n\nimport rospy\nfrom robot_movement_interface.msg import *\n\nsubscriber = None\nposition = None\nabort = False\n\ndef callback(data):\n\tglobal position\n\tposition = data\n\ndef execute(input_parameters, output_parameters):\n\tglobal subscriber\n\tglobal position\n\tglobal abort\n\t\n\tabort = False\n\tposition = None\n\t\n\tsubscriber = rospy.Subscriber(\"/dnb_tool_frame\", EulerFrame, callback)\n\t\n\twhile not position and not abort:\n\t\trospy.sleep(0.01)\n\t\n\toutput_parameters[0]['parameters'][0]['parameters'][0]['value'] = position.x\n\toutput_parameters[0]['parameters'][0]['parameters'][1]['value'] = position.y\n\toutput_parameters[0]['parameters'][0]['parameters'][2]['value'] = position.z\n\toutput_parameters[0]['parameters'][1]['parameters'][0]['value'] = position.alpha\n\toutput_parameters[0]['parameters'][1]['parameters'][1]['value'] = position.beta\n\toutput_parameters[0]['parameters'][1]['parameters'][2]['value'] = position.gamma\n\t\n\tsubscriber.unregister()\n\t\n\treturn output_parameters\n\ndef abort():\n\tglobal abort\n\tabort = True", "title": "Get TCP Pose", "description": "This FB produces the current robot TCP as output in format of a pose.", "image": "dnb-icon-robot", "identifier": "5bade47d2e1fa89c5de6848c", "dependencies": null }, { "version": "4.1.1", "errorcodes": [ "COMMAND_FAILED", "COMMAND_ERROR", "COMMUNICATION_ERROR", "POSE_NOT_REACHABLE", "SAFETY_STOP" ], "skip": false, "type": "Basic", "inputParameters": [ { "availableOptions": [], "displayTitle": "Joint Trajectory", "parameters": [ { "availableOptions": [], "parameters": [ { "availableOptions": [], "parameters": [ { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "a41bb16c-6020-862e-571a-e86fe105a213", "title": "joint_1", "description": "Joint 1 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 1", "unit": "deg" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "4afa02d9-f62a-bbf5-ad2f-6b94b4e192a7", "title": "joint_2", "description": "Joint 2 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 2", "unit": "deg" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "305bab83-8af6-8035-1e5b-sadgfg", "title": "joint_3", "description": "Joint 3 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 3", "unit": "deg" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "a41bb16c-6020-862e-571a-jtkdxhg", "title": "joint_4", "description": "Joint 4 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 4", "unit": "deg" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "4afa02d9-f62a-bbf5-ad2f-5zehdjhasrth", "title": "joint_5", "description": "Joint 5 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 5", "unit": "deg" }, { "availableOptions": [], "parameters": [], "constraints": [], "paramId": "305bab83-8af6-8035-1e5b-fbxtz5r6zwsz5rt", "title": "joint_6", "description": "Joint 6 in degrees", "value": null, "type": "primitive", "reference": null, "dataType": "float", "displayTitle": "Joint 6", "unit": "deg" } ], "constraints": [], "paramId": "9587fadd-a133-791e-cfed-faec3a1ca8c2", "title": "joints", "description": "Target joints in degrees", "value": null, "type": "group", "reference": null, "dataType": "joints", "displayTitle": "Joints" }, { "availableOptions": [], "parameters": [ { "availableOptions": [], "displayTitle": "Speed Value", "parameters": [], "constraints": [ { "msg": "Value should be smaller or equals 100", "rule": "=PERCENT?<=100", "reference": "cbec2d14-95b9-8c1f-a610-9fb2918db9e9", "type": "ref" }, { "msg": "Value should be greater than 0", "rule": "=PERCENT?>0", "reference": "cbec2d14-95b9-8c1f-a610-9fb2918db9e9", "type": "ref" }, { "msg": "Value should be greater than 0", "rule": "=DEG/S?>0", "reference": "cbec2d14-95b9-8c1f-a610-9fb2918db9e9", "type": "ref" } ], "dataType": "float", "description": null, "paramId": "f2b9fd9d-574b-3cf8-508e-f4efc7ea85b8", "reference": null, "title": "speed_value", "type": "primitive", "value": "1.0" }, { "availableOptions": [ "DEG/S", "PERCENT" ], "displayTitle": "Speed Type", "parameters": [], "constraints": [], "dataType": "string", "description": null, "paramId": "cbec2d14-95b9-8c1f-a610-9fb2918db9e9", "reference": null, "title": "speed_type", "value": "DEG/S", "type": "select" } ], "constraints": [], "paramId": "3b921203-b484-4c53-9ac9-938380683e3b", "title": "speed", "description": "Speed of robot movement", "value": null, "type": "unitval", "reference": null, "dataType": "speed", "displayTitle": "Speed" }, { "availableOptions": [], "parameters": [ { "availableOptions": [], "displayTitle": "Acceleration Value", "parameters": [], "constraints": [ { "msg": "Value should be smaller or equals 100", "rule": "=PERCENT?<=100", "reference": "28c90322-37b0-621e-8e02-3bc720cd46fc", "type": "ref" }, { "msg": "Value should be greater than 0", "rule": "=PERCENT?>0", "reference": "28c90322-37b0-621e-8e02-3bc720cd46fc", "type": "ref" }, { "msg": "Value should be greater than 0", "rule": "=M/S^2?>0", "reference": "28c90322-37b0-621e-8e02-3bc720cd46fc", "type": "ref" } ], "dataType": "float", "description": null, "paramId": "fdd36c64-cb08-e559-00e9-c858ebbf365b", "reference": null, "title": "acceleration_value", "type": "primitive", "value": "50.0" }, { "availableOptions": [ "PERCENT" ], "displayTitle": "Acceleration Type", "parameters": [], "constraints": [], "dataType": "string", "description": null, "paramId": "28c90322-37b0-621e-8e02-3bc720cd46fc", "reference": null, "title": "acceleration_type", "type": "select", "value": "PERCENT" } ], "constraints": [], "paramId": "f8dcafdf-a10b-4b38-84a4-8b470246cc0c", "title": "acceleration", "description": "Acceleration of robot movement", "value": null, "type": "unitval", "reference": null, "dataType": "acceleration", "displayTitle": "Acceleration" }, { "availableOptions": [], "displayTitle": "Blending", "parameters": [ { "availableOptions": [], "displayTitle": "Blending Value", "parameters": [], "constraints": [ { "msg": "Value should be smaller or equals 100", "rule": "=PERCENT?<=100", "reference": "b7e0bd98-f23b-403d-aee3-09e1f318b582", "type": "ref" }, { "msg": "Value should be greater or equals 0", "rule": "=PERCENT?>=0", "reference": "b7e0bd98-f23b-403d-aee3-09e1f318b582", "type": "ref" } ], "dataType": "float", "description": null, "paramId": "c45799ae-734e-4a13-ee0d-d8ae4312fb9d", "reference": null, "title": "blending_value", "type": "primitive", "value": "0.0" }, { "availableOptions": [ "PERCENT" ], "displayTitle": "Blending Type", "parameters": [], "constraints": [], "dataType": "string", "description": null, "paramId": "b7e0bd98-f23b-403d-aee3-09e1f318b582", "reference": null, "title": "blending_type", "type": "select", "value": "PERCENT" } ], "constraints": [], "dataType": "blending", "description": "Positional blending between waypoint poses", "paramId": "498bc753-9132-0f4e-6d67-44d2d21fd52e", "reference": null, "title": "blending", "type": "unitval", "value": null } ], "constraints": [], "paramId": "02e3f31c-24f4-482f-43be-f27161404d24", "title": "waypoint_joints", "description": null, "value": null, "type": "group", "dataType": "waypoint_joints", "reference": null, "displayTitle": "Waypoint Joints" } ], "constraints": [], "dataType": "joint_trajectory", "description": "List of joint waypoints the robot will move to.", "paramId": "CzkN-64-1497278216110-KGYD", "reference": null, "title": "joint_trajectory", "type": "list", "value": null }, { "availableOptions": [], "paramId": "c1121400-db2d-4dbb-a6a5-320bc0c4cb1f", "displayTitle": "Add to Waypoint Queue", "title": "add_to_waypoint_queue", "description": "When enabled the robot does not move when this function block is executed. Movement is suspended and its execution needs to be triggered by the function block 'Wayoint Queue - Move'. This enables chaining movements for shorter cycle times.", "value": "false", "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] } ], "globalParameters": [], "outputParameters": [], "script": "#!/usr/bin/env python\nimport rospy\nimport yaml\nimport json\nimport actionlib\nimport unicodedata\nimport random\nimport std_srvs.srv\nimport math\n\nfrom std_srvs.srv import *\nfrom robot_movement_interface.msg import *\n\nclass ActionManager(object):\n\tdebug = False\n\tdef __init__(self, action_name, action_type):\n\t\tif self.debug: print(\"ActionManager - Initializing\")\n\t\tself.client = actionlib.SimpleActionClient(action_name, action_type)\n\t\tself.client.wait_for_server()\n\t\tif self.debug: print(\"ActionManager - Initialized\")\n\t\t\n\tdef __del__(self):\n\t\tif self.debug: print(\"ActionManager - Destructor called\")\n\t\tself.cleaner(self.client)\n\t\tif self.debug: print(\"ActionManager - Destructor finished\")\n\t\t\n\tdef cleaner(self, client):\n\t\tif self.debug: print(\"ActionManager - Cleaner called\")\n\t\tif not client: return\n\t\tclient.action_client.status_sub.unregister()\n\t\tclient.action_client.result_sub.unregister()\n\t\tclient.action_client.feedback_sub.unregister()\n\t\tdel client.action_client.status_sub\n\t\tdel client.action_client.result_sub\n\t\tdel client.action_client.feedback_sub\n\t\tdel client.action_client.pub_goal\n\t\tdel client.action_client.pub_cancel\n\t\tdel client\n\t\tif self.debug: print(\"ActionManager - Cleaner finished\")\n\t\t\n\t# This functions does a blocking call to the action, waiting until any result (also cancellation) is received\n\t# It returns the result message received\n\tdef call(self, goal):\n\t\tif self.debug: print(\"ActionManager - Call called\")\n\t\tself.client.send_goal(goal)\n\t\tself.client.wait_for_result()\n\t\tif self.debug: print(\"ActionManager - Call finished with result:\")\n\t\tif self.debug: print(self.client.get_result())\n\t\treturn self.client.get_result()\n\t# This function \n\tdef abort(self): \n\t\tif self.debug: print(\"ActionManager - Abort called\")\n\t\tself.client.cancel_all_goals()\n\t\tself.client.wait_for_result()\n\t\tif self.debug: print(\"ActionManager - Aborted\")\n\t\t\nmove_manager = ActionManager('commands_action_server', robot_movement_interface.msg.CommandsAction)\naborted = False\n\ndef convert_by_unit(val, unit):\n\tif unit == 'm': return val\n\telse: return math.radians(val)\n\ndef execute(input_parameters, output_parameters, global_parameters, rmi_queue):\n\tglobal aborted\n\taborted = False\n\t\n\tcommand_action_goal = robot_movement_interface.msg.CommandsGoal()\n\tcommand_list = CommandList()\n\tcommand_list.commands = []\n\tcommand_list.replace_previous_commands = True\n\tcommand_id = random.randint(0,2047483647)\n\t\n\tunits = [val['unit'] if 'unit' in val else 'deg' for val in rospy.get_param('/dnb_remote_robot_control/joint_limits')]\n\n\t# Create a ROS action call message with the incoming information\n\tfor waypoint in input_parameters[0]['parameters']:\n\t\tall_params = dict((y['title'], y) for y in waypoint['parameters'])\n\n\t\t# target joints\n\t\tjoints = waypoint['parameters'][0]['parameters']\n\t\tif len(joints) > len(units):\n\t\t\tvalues_are_zero = not any([True if float(joint['value']) != 0 else False for joint in joints[len(units):]])\n\t\t\twhile values_are_zero and len(joints) > len(units):\n\t\t\t\tjoints.pop()\n\n\t\t# the movement parameters\n\t\tspeed = dict((y['title'], y) for y in all_params['speed']['parameters'])\n\t\tacceleration = dict((y['title'], y) for y in all_params['acceleration']['parameters'])\n\t\tblending = dict((y['title'], y) for y in all_params['blending']['parameters'])\n\n\t\tcommand = Command()\n\t\tcommand.command_id = command_id\n\t\tcommand.command_type = 'PTP'\n\t\tcommand.pose_type = 'JOINTS'\n\t\tcommand.pose = [float(joint['value']) for joint in joints]\n\t\tif len(command.pose) > len(units):\n\t\t\tunits = units + ['deg'] * (len(command.pose) - len(units))\n\t\tcommand.pose = [convert_by_unit(j, units[index]) for index, j in enumerate(command.pose)]\n\t\tcommand.velocity_type = speed['speed_type']['value']\n\t\tcommand.velocity = [float(speed['speed_value']['value'])]\n\t\tcommand.blending_type = blending['blending_type']['value']\n\t\tcommand.blending = [float(blending['blending_value']['value'])]\n\t\tcommand.acceleration_type = acceleration['acceleration_type']['value']\n\t\tcommand.acceleration = [float(acceleration['acceleration_value']['value'])]\n\t\tcommand.pose_reference = ''\n\n\t\tcommand_list.commands.append(command)\n\t\tcommand_id += 1\n\n\tif (str(input_parameters[1]['value']).lower() == 'false'):\n\t\tcommand_action_goal.commands = command_list\n\t\tresult_msg = move_manager.call(command_action_goal)\n\t\n\t\tif not aborted and not result_msg:\n\t\t\traise Exception(\"COMMAND_FAILED\")\n\t\tif not aborted and result_msg and result_msg.result.result_code != Result.SUCCESS:\n\t\t\tif result_msg.result.result_code == Result.FAILURE_COMMUNICATION:\n\t\t\t\traise Exception(\"COMMUNICATION_ERROR\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_TARGET_NOT_REACHABLE:\n\t\t\t\traise Exception(\"POSE_NOT_REACHABLE\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_OUT_OF_REACH:\n\t\t\t\traise Exception(\"POSE_NOT_REACHABLE\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_ROBOT_CONFIGURATION:\n\t\t\t\traise Exception(\"POSE_NOT_REACHABLE\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_JOINT_LIMIT:\n\t\t\t\traise Exception(\"POSE_NOT_REACHABLE\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_CROSSING_SINGULARITY:\n\t\t\t\traise Exception(\"POSE_NOT_REACHABLE\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_EMERGENCY_STOP:\n\t\t\t\traise Exception(\"SAFETY_STOP\")\n\t\t\telif result_msg.result.result_code == Result.FAILURE_COMPONENT_NOT_READY:\n\t\t\t\traise Exception(\"ROBOT_NOT_READY\")\n\t\t\telse:\n\t\t\t\traise Exception(\"COMMAND_ERROR\")\n\n\telse: \n\t\t# MOVE is asynchronous, put all commands of the current trajectory\n\t\tfor c in command_list.commands:\n\t\t\trmi_queue.put_nowait(c)\n\t\t\n\treturn output_parameters\n\ndef abort():\n\tglobal aborted\n\taborted = True\n\t\n\trospy.loginfo(\"Handling abort()-Section in move skill.\")\t\n\n\tmove_manager.abort()\n\tstop_service = rospy.ServiceProxy('stop_robot_right_now', Trigger)\n\tstop_service()", "title": "Move Joints", "description": "Rotate robot joints to the given position", "image": "dnb-icon-move_cartesian", "identifier": "cacb7bac-ff37-4719-a83c-b0545782a060", "dependencies": null }, { "version": "1.0.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "To String - Boolean", "description": "Convert a boolean to a string. Returns 'True' or 'False'.", "image": "dnb-icon-pi", "script": "#!/usr/bin/env python\n\ndef execute(input_parameters, output_parameters):\n\toutput_parameters[0]['value'] = str(str(input_parameters[0]['value']).lower() == \"true\")\n\treturn output_parameters\n\ndef error(input_parameters, output_parameters):\n\treturn output_parameters\n", "identifier": "b4d5d684-841a-4c81-b1b1-bfeeee5360e7", "inputParameters": [ { "availableOptions": [], "paramId": "e7703102-01fd-47e8-b590-78fe16ec7e0f", "displayTitle": "Value", "title": "value", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "boolean", "reference": null, "constraints": [] } ], "outputParameters": [ { "availableOptions": [], "paramId": "d4ecf1c1-abba-4d5e-a47e-5443f0912716", "displayTitle": "Text", "title": "text", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "string", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null }, { "version": "1.0.4", "errorcodes": [], "skip": false, "type": "Basic", "inputParameters": [ { "availableOptions": [], "displayTitle": "Message", "parameters": [], "constraints": [], "paramId": "0fec710a-ed20-4c32-9666-63c4d1f27d3c", "title": "message", "description": "Text to be displayed in message.", "value": null, "type": "primitive", "dataType": "string", "reference": null }, { "availableOptions": [], "displayTitle": "Buttons", "parameters": [ { "availableOptions": [], "displayTitle": "Button Settings", "parameters": [ { "availableOptions": [], "displayTitle": "Button Text", "parameters": [], "constraints": [], "paramId": "3eaf5e00-23af-11e9-b56e-0800200c9a66", "title": "button_value", "description": "Text displayed on button.", "value": "OK", "type": "primitive", "dataType": "string", "reference": null }, { "availableOptions": [], "displayTitle": "Button Result Code", "parameters": [], "constraints": [], "paramId": "48d81340-23af-11e9-b56e-0800200c9a66", "title": "button_result_code", "description": "Result code of button.", "value": "0", "type": "primitive", "dataType": "string", "reference": null } ], "constraints": [], "paramId": "580ff300-23af-11e9-b56e-0800200c9a66", "title": "button_caption", "description": "Settings for button.", "value": null, "type": "group", "dataType": "button", "reference": null } ], "constraints": [], "title": "buttons", "paramId": "5fbc84b0-23af-11e9-b56e-0800200c9a66", "description": null, "value": null, "type": "list", "dataType": "options", "reference": null } ], "globalParameters": [], "outputParameters": [ { "availableOptions": [], "displayTitle": "Result", "parameters": [], "constraints": [], "paramId": "3d9e295c-fbc4-4556-b050-1fa1ac956790", "title": "result", "description": "Result code of clicked button.", "value": null, "type": "primitive", "dataType": "string", "reference": null } ], "title": "User Dialog", "description": "Create a message with buttons to choose from. Return value is dependent on clicked button.", "image": "dnb-icon-speech_bubble_round_dots", "script": "#!/usr/bin/env python\nimport rospy\nimport json\nimport sys\nfrom human_interaction.msg import *\nfrom human_interaction.srv import *\n\n# Returns str including non-ascii characters\ndef safe_string(s):\n\tif (sys.version_info > (3, 0)):\n\t\treturn s\n\telse:\t\t\n\t\treturn s.encode(\"utf-8\") if isinstance(s, unicode) else s\n\ndef execute(input_parameters, output_parameters):\n\tglobal srv\n\t\n\tif not input_parameters[0]['value']: input_parameters[0]['value'] = \"\"\n\t\t\n\ttry:\n\t\t# The incoming types are unicode:\n\t\t# rospy.logerr(type(msg.caption))\n\t\t# [rospy.logerr(type(btn['parameters'][0]['value'])) for btn in input_parameters[1]['parameters']]\n\t\t# Unicode seems to be supported for displaying, but the response is empty if contains unicode characters\n\t\t# We use safe_string function for encoding\n\t\t\n\t\trospy.wait_for_service('human_interaction/request_hi', 1.0)\t\n\t\tsrv = rospy.ServiceProxy('human_interaction/request_hi', RequestHI)\n\t\tmsg = HumanMessage()\n\t\tmsg.modal = True\t\t# Block the execution until it is answer. False means just logging.\n\t\tmsg.open_answer = False\t# Don't allow custom answer input\n\t\tmsg.caption = safe_string(input_parameters[0]['value']) # Text to show\n\t\tmsg.options\t= [safe_string(btn['parameters'][0]['value']) for btn in input_parameters[1]['parameters']] # No options in this warning skill, but it can be used\n\t\tmsg.additional = \"\"\t\t# Not used now\n\t\tmsg.uuid = \"\"\t\t\t# Autogenerated\n\t\tresponse = srv.call(RequestHIRequest(msg))\n\t\t\n\t\tindex = [safe_string(hi_btn['parameters'][1]['value']) for hi_btn in input_parameters[1]['parameters'] if safe_string(hi_btn['parameters'][0]['value']) == safe_string(response.option)]\n\t\t\n\t\tif len(index) == 0:\n\t\t\toutput_parameters[0]['value'] = str(response.option)\n\t\telse:\n\t\t\toutput_parameters[0]['value'] = str(index[0])\n\t\t\t\n\texcept (rospy.ServiceException, rospy.ROSException):\n\t\traise Exception('TIMEOUT')\n\t\t\n\treturn output_parameters\n\ndef abort():\n\tglobal srv\n\tsrv.close()\n", "identifier": "25a6ffb5-ef13-4561-815b-baf3d516cf05", "dependencies": null }, { "version": "1.0.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "Combine - Strings", "description": "Combines several string parts into one string.", "image": "dnb-icon-general_skill", "script": "#!/usr/bin/env python\n\ndef execute(input_parameters, output_parameters):\n\toutput_parameters[0]['value'] = \"\"\n\t\n\tfor s in input_parameters[0]['parameters']:\n\t\toutput_parameters[0]['value'] += s['value']\n\treturn output_parameters", "identifier": "427fa90b-1fcf-495e-ba8b-8580448aa88b", "inputParameters": [ { "availableOptions": [], "paramId": "CzkN-64-1497278216110-KGYD", "displayTitle": "String List", "title": "string_list", "description": "List of string parts to concatenate.", "value": null, "type": "list", "parameters": [ { "availableOptions": [], "paramId": "53198997-ffc4-42bc-af8f-29e78e810d84", "displayTitle": "String", "title": "string_element", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "string", "reference": null, "constraints": [] } ], "dataType": "string_list", "reference": null, "constraints": [] } ], "outputParameters": [ { "availableOptions": [], "paramId": "f4656bdc-9e92-4d46-9845-7fc4b01270f2", "displayTitle": "Result", "title": "result", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "string", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null }, { "version": "1.1.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "To String - Integer", "description": "Convert an integer number to a string.", "image": "dnb-icon-pi", "script": "#!/usr/bin/env python\n\ndef execute(input_parameters, output_parameters):\n\toutput_parameters[0]['value'] = str(input_parameters[0]['value'])\n\treturn output_parameters\n\ndef error(input_parameters, output_parameters):\n\treturn output_parameters\n", "identifier": "f5f72f6c-f9fc-4f2f-8ea0-d6accad07dd8", "inputParameters": [ { "availableOptions": [], "paramId": "e7703102-01fd-47e8-b590-78fe16ec7e0f", "displayTitle": "Number", "title": "number", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "integer", "reference": null, "constraints": [] } ], "outputParameters": [ { "availableOptions": [], "paramId": "d4ecf1c1-abba-4d5e-a47e-5443f0912716", "displayTitle": "Text", "title": "text", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "string", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null }, { "version": "1.1.0", "errorcodes": [], "skip": false, "type": "Basic", "title": "To String - Float", "description": "Convert a float number to a string.", "image": "dnb-icon-pi", "script": "#!/usr/bin/env python\n\ndef execute(input_parameters, output_parameters):\n\toutput_parameters[0]['value'] = str(input_parameters[0]['value'])\n\treturn output_parameters\n\ndef error(input_parameters, output_parameters):\n\treturn output_parameters\n", "identifier": "aaea91ca-c384-483c-b09c-8e549f8feb91", "inputParameters": [ { "availableOptions": [], "paramId": "e7703102-01fd-47e8-b590-78fe16ec7e0f", "displayTitle": "Number", "title": "number", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "float", "reference": null, "constraints": [] } ], "outputParameters": [ { "availableOptions": [], "paramId": "d4ecf1c1-abba-4d5e-a47e-5443f0912716", "displayTitle": "Text", "title": "text", "description": null, "value": null, "type": "primitive", "parameters": [], "dataType": "string", "reference": null, "constraints": [] } ], "globalParameters": [], "dependencies": null } ], "format": "linked#2.4.0" }