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fleischpfleischp
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‎.vscode/settings.json

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{
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"python.pythonPath": "C:\\Users\\fleischp\\anaconda3\\envs\\compas_rrc_dev\\python.exe"
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}

‎Compas_RRC_Course.rspag

-2.21 MB
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‎Python/00_welcome.py

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import compas_rrc as rrc
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if __name__ == '__main__':
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, '/rob1')
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print('Connected.')
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# Print text on FlexPenant
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result = abb.send_and_wait(rrc.PrintText('Welcome to COMPAS_RRC'))
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print(result)
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()

‎Python/compas_rrc_A_welcome.py ‎Python/01_communication.py

+23-23
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from compas_rrc import *
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from compas_fab.backends.ros import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = AbbClient(ros, '/rob1')
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print('Connected.')
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# Test compas_rrc
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result = abb.send_and_wait(PrintText('Welcome to COMPAS_RRC'))
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print(result)
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()
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import compas_rrc as rrc
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from compas_fab.backends import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, '/rob1')
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print('Connected.')
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# Print text on FlexPenant
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result = abb.send_and_wait(rrc.PrintText('Welcome to COMPAS_RRC'))
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print(result)
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()

‎Python/compas_rrc_B_tool_and_work_object.py ‎Python/02_tool_and_work_object.py

+35-35
Original file line numberDiff line numberDiff line change
@@ -1,35 +1,35 @@
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from compas_rrc import *
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from compas_fab.backends.ros import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = AbbClient(ros, '/rob1')
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print('Connected.')
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# Set tool
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done = abb.send_and_wait(SetTool('tool0'))
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# Set work object
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done = abb.send_and_wait(SetWorkObject('wobj0'))
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# Set acceleration
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acc = 100 # Unit [%]
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ramp = 100 # Unit [%]
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done = abb.send_and_wait(SetAcceleration(acc, ramp))
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# Set max speed
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override = 100 # Unit [%]
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max_tcp = 2500 # Unit [mm/s]
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done = abb.send_and_wait(SetMaxSpeed(override, max_tcp))
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()
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import compas_rrc as rrc
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from compas_fab.backends import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, '/rob1')
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print('Connected.')
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# Set tool
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done = abb.send_and_wait(rrc.SetTool('tool0'))
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# Set work object
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done = abb.send_and_wait(rrc.SetWorkObject('wobj0'))
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# Set acceleration
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acc = 100 # Unit [%]
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ramp = 100 # Unit [%]
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done = abb.send_and_wait(rrc.SetAcceleration(acc, ramp))
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# Set max speed
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override = 100 # Unit [%]
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max_tcp = 2500 # Unit [mm/s]
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done = abb.send_and_wait(rrc.SetMaxSpeed(override, max_tcp))
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()

‎Python/compas_rrc_C_get_and_move.py ‎Python/03_get_and_move.py

+76-76
Original file line numberDiff line numberDiff line change
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from compas_rrc import *
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from compas.geometry import Frame
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from compas_fab.backends.ros import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = AbbClient(ros, '/rob1')
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print('Connected.')
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# Switches for Code
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on = True
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off = False
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# Get and move to joints
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if on:
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# Get joints
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robot_joints, external_axes = abb.send_and_wait(GetJoints())
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# Print received values
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print(robot_joints, external_axes)
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# Change value and move to new position
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robot_joints.rax_1 += 15
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToJoints(robot_joints, external_axes, speed, Zone.FINE))
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# Get and move to frame
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if on:
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# Get frame
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frame = abb.send_and_wait(GetFrame())
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# Print received values
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print(frame)
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# Change any frame value and move robot to new position
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frame.point[0] += 50
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToFrame(frame, speed, Zone.FINE, Motion.LINEAR))
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# Get and move to robtarget
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if on:
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# Get frame and external axes
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frame, external_axes = abb.send_and_wait(GetRobtarget())
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# Print received values
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print(frame, external_axes)
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# Change any value and move to new position
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frame.point[0] += 50
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToRobtarget(frame, external_axes, speed, Zone.FINE))
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# Move robot to start position
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if on:
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# Set start values
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robot_joints, external_axes =[0.0, -30, 0, 0, 30, 0], []
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# Move robot to start position
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done = abb.send_and_wait(MoveToJoints(robot_joints, external_axes, 1000, Zone.FINE))
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()
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import compas_rrc as rrc
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from compas.geometry import Frame
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from compas_fab.backends.ros import RosClient
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if __name__ == '__main__':
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# Create Ros Client
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ros = RosClient()
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ros.run()
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# Create ABB Client
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abb = AbbClient(ros, '/rob1')
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print('Connected.')
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# Switches for Code
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on = True
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off = False
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# Get and move to joints
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if on:
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# Get joints
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robot_joints, external_axes = abb.send_and_wait(GetJoints())
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# Print received values
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print(robot_joints, external_axes)
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# Change value and move to new position
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robot_joints.rax_1 += 15
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToJoints(robot_joints, external_axes, speed, Zone.FINE))
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# Get and move to frame
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if off:
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# Get frame
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frame = abb.send_and_wait(GetFrame())
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# Print received values
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print(frame)
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# Change any frame value and move robot to new position
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frame.point[0] += 50
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToFrame(frame, speed, Zone.FINE, Motion.LINEAR))
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# Get and move to robtarget
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if off:
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# Get frame and external axes
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frame, external_axes = abb.send_and_wait(GetRobtarget())
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# Print received values
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print(frame, external_axes)
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# Change any value and move to new position
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frame.point[0] += 50
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speed = 100 # Unit [mm/s]
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done = abb.send_and_wait(MoveToRobtarget(frame, external_axes, speed, Zone.FINE))
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# Move robot to start position
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if off:
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# Set start values
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robot_joints, external_axes =[0.0, -30, 0, 0, 30, 0], []
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# Move robot to start position
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done = abb.send_and_wait(MoveToJoints(robot_joints, external_axes, 1000, Zone.FINE))
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# End of Code
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print('Finished')
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# Close client
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ros.close()
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ros.terminate()
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