RTDE client library, safety

Overview

• This repository is forked from the official RTDE repository.
• This repository modifies ../examples/record.py to monitor the safety status of the robot. When the robot leaves normal mode, a notification email containing data is sent to a recipient(s).

Demo

• E-mail sent after protective stop was set.

  

Setup

Requirements

• Python
• Gmail account
• Git

Instructions

1. Enable and setup 2-factor authentication for the sending Google account.

2. Create an app password token.

   

3. Clone this repository into a directory of your choice with the following command:

   git clone https://github.com/Shawn-Armstrong/RTDE_Python_Client_Library_Safety.git

4. In ../examples/record.py at the top, add your email related information.

   Looks like this

   email_sender = es.EmailSender(
        smtp_host="smtp.gmail.com",
        smtp_port=587,
        username='<SENDER_EMAIL>@gmail.com',
        token_password='<YOUR_APP_PASSWORD>', # NOT your ordinary sign-in password; look at email-sender README.md.
        recipients=["[email protected]", "[email protected]"]
    )

5. Run the program with the following command using your robot's IPv4:

   cd RTDE_Python_Client_Library_Safety\examples
   python record.py --host YOUR_IPv4_GOES_HERE --frequency 10

Summary

• This setup monitors the robot's safety status. You can easily modify the conditional in record.py to do something other then send an email.