dcs.robot.ros_client

This module is a ROS client for ABB robot controller via compas_rrc.

DcsRosClient

A ROS client for ABB robot controller via compas_rrc.

This class provides an interface to connect, control, and communicate with an ABB robot controller using the compas_rrc library over ROS. It supports initialization and termination of the ROS client, digital/group/analog IO operations, and various robot movement commands.

Attributes:

Name	Type	Description
_ros		Internal ROS client instance.
_abb		Internal ABB client instance.

__init__()

Initialize the ROS client.

Creates a new DcsRosClient instance with uninitialized ROS and ABB client connections.

close_ros_client()

Close the ROS client and terminate the connection.

Properly closes the ROS client connection and terminates the ROS communication. Sends a disconnection message before closing.

get_analog_input(io_name)

Retrieve and display the value of an analog input from the robot controller.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the analog input to read.	required

Side Effects

Prints the current value of the specified analog input to the console.

get_analog_output(io_name, value)

Set the value of an analog output on the robot controller.

Note: Method name suggests 'get' but actually sets the analog output value.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the analog output signal.	required
value	int	The analog value to set.	required

get_digital_input(io_name)

Retrieve and display the value of a digital input from the robot controller.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the digital input signal to read.	required

Side Effects

Prints the current value of the specified digital input to the console.

get_group_input(io_name)

Retrieve and display the value of a group input from the robot controller.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the group input to read.	required

Side Effects

Prints the current value of the specified group input to the console.

get_robotarget()

Get the current robot target position and external axes.

Returns:

Name	Type	Description
tuple	tuple	A tuple containing (frame, external_axes) representing the current robot position, or (None, None) if the request fails.

get_workobject()

Get the currently active work object.

Raises:

Type	Description
NotImplementedError	This method is not yet implemented.

init_ros_client()

Initialize the ROS client and establish connection to ABB robot.

Creates and starts the ROS client connection, then initializes the ABB client with the robot namespace '/rob1'. Sends a welcome message to confirm connection.

Raises:

Type	Description
Exception	If ROS connection fails or ABB client initialization fails.

move_to_frame(frame, speed, zone)

Move the robot to a specified frame using linear motion.

Parameters:

Name	Type	Description	Default
frame		The target frame/pose for the robot to move to.	required
speed	int	Movement speed parameter.	required
zone	int	Zone parameter controlling path precision vs speed.	required

Side Effects

Sends movement command to robot and prints movement status.

move_to_joints(joints, external_axes, speed, zone)

Move the robot to specified joint positions.

Parameters:

Name	Type	Description	Default
joints	list	List of joint angles for robot axes.	required
external_axes		External axis positions (if applicable).	required
speed	int	Movement speed parameter.	required
zone	int	Zone parameter controlling path precision vs speed.	required

Side Effects

Sends joint movement command to robot and prints movement status.

move_to_robotarget()

Move the robot to a robot target position.

Raises:

Type	Description
NotImplementedError	This method is not yet implemented.

print_text(text)

Send text to be printed on the robot controller and console.

Parameters:

Name	Type	Description	Default
text	str	The text message to print.	required

Side Effects

Sends print command to robot controller and prints to local console.

set_acceleration(acc, ramp)

Set the robot's acceleration parameters.

Parameters:

Name	Type	Description	Default
acc	int	Acceleration value as percentage (%).	required
ramp	int	Ramp value as percentage (%).	required

set_digital_output(io_name, value)

Set the value of a digital output on the robot controller.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the digital output signal.	required
value	int	The value to set (typically 0 or 1 for digital signals).	required

set_group_output(io_name, value)

Set the value of a group output on the robot controller.

Group outputs allow setting multiple digital signals simultaneously.

Parameters:

Name	Type	Description	Default
io_name	str	The name/identifier of the group output.	required
value	int	The integer value representing the group state.	required

set_max_speed(overide, max_tcp)

Set the robot's maximum speed parameters.

Parameters:

Name	Type	Description	Default
overide	int	Speed override value as percentage (%).	required
max_tcp	int	Maximum TCP (Tool Center Point) speed in mm/s.	required

set_move_zone(zone)

Set the movement zone parameter for robot motions.

Parameters:

Name	Type	Description	Default
zone	int	Zone parameter value.	required

Raises:

Type	Description
NotImplementedError	This method is not yet implemented.

set_tool(tool_name)

Set the active tool for the robot.

Parameters:

Name	Type	Description	Default
tool_name	str	Name of the tool to activate.	required

Side Effects

Prints confirmation of tool change.

set_workobject(workobject)

Set the active work object coordinate system for the robot.

Parameters:

Name	Type	Description	Default
workobject	str	Name of the work object to activate.	required

Side Effects

Prints confirmation of work object change.

wait(time)

Make the robot wait for a specified duration.

Parameters:

Name	Type	Description	Default
time	int	Wait time duration (units depend on robot controller settings).	required