simulator works, but is a bit of a hack

kuka_rsi_simulator/kuka_rsi_simulator/kuka_rsi_simulator.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+
+import sys
+import socket
+import numpy as np
+import time
+import xml.etree.ElementTree as ET
+
+import errno
+# import rospy
+# from std_msgs.msg import String
+
+def create_rsi_xml_rob(act_joint_pos, setpoint_joint_pos, timeout_count, ipoc):
+    q = act_joint_pos
+    qd = setpoint_joint_pos
+    root = ET.Element('Rob', {'TYPE':'KUKA'})
+    ET.SubElement(root, 'RIst', {'X':'0.0', 'Y':'0.0', 'Z':'0.0',
+                                 'A':'0.0', 'B':'0.0', 'C':'0.0'})
+    ET.SubElement(root, 'RSol', {'X':'0.0', 'Y':'0.0', 'Z':'0.0',
+                                 'A':'0.0', 'B':'0.0', 'C':'0.0'})
+    ET.SubElement(root, 'AIPos', {'A1':str(q[0]), 'A2':str(q[1]), 'A3':str(q[2]),
+                                  'A4':str(q[3]), 'A5':str(q[4]), 'A6':str(q[5])})
+    ET.SubElement(root, 'ASPos', {'A1':str(qd[0]), 'A2':str(qd[1]), 'A3':str(qd[2]),
+                                  'A4':str(qd[3]), 'A5':str(qd[4]), 'A6':str(qd[5])})
+    ET.SubElement(root, 'Delay', {'D':str(timeout_count)})
+    ET.SubElement(root, 'IPOC').text=str(ipoc)
+    return ET.tostring(root)
+
+def parse_rsi_xml_sen(data):
+    root = ET.fromstring(data)
+    AK = root.find('AK').attrib
+    desired_joint_correction = np.array([AK['A1'], AK['A2'], AK['A3'],
+                                         AK['A4'], AK['A5'], AK['A6']]).astype(np.float64)
+    IPOC = root.find('IPOC').text
+    return desired_joint_correction, int(IPOC)
+
+
+# if __name__ == '__main__':
+def main():
+    node_name = 'kuka_rsi_simulation'
+# rsi_act_pub = rospy.Publisher(node_name + '/rsi/state', String, queue_size=1)
+# rsi_cmd_pub = rospy.Publisher(node_name + '/rsi/command', String, queue_size=1)
+
+    cycle_time = 0.004
+    act_joint_pos = np.array([0, -90, 90, 0, 90, 0]).astype(np.float64)
+    cmd_joint_pos = act_joint_pos.copy()
+    des_joint_correction_absolute = np.zeros(6)
+    timeout_count = 0
+    ipoc = 0
+
+    # import argparse
+    # parser = argparse.ArgumentParser(description='KUKA RSI Simulation')
+    # parser.add_argument('--rsi_hw_iface_ip', default="127.0.0.1", help='The ip address of the RSI control interface (default=127.0.0.1)')
+    # parser.add_argument('--rsi_hw_iface_port', default=49152, help='The port of the RSI control interface (default=49152)')
+    # parser.add_argument('--sen', default='ImFree', help='Type attribute in RSI XML doc. E.g. <Sen Type:"ImFree">')
+    # # Only parse known arguments
+    # args, _ = parser.parse_known_args()
+    # host = args.rsi_hw_iface_ip
+    # port = int(args.rsi_hw_iface_port)
+    # sen_type = args.sen
+
+    host = "127.0.0.1"
+    port = 49152
+    sen_type = 'ImFree'
+
+
+    # rospy.init_node(node_name)
+    # rospy.loginfo('{}: Started'.format(node_name))
+
+    try:
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        # rospy.loginfo('{}, Successfully created socket'.format(node_name))
+        print('{}, Successfully created socket'.format(node_name))
+        s.settimeout(1)
+    except socket.error as e:
+        # rospy.logfatal('{}Could not create socket'.format(node_name))
+        print('{}Could not create socket'.format(node_name))
+        sys.exit()
+
+    def shutdown_hook():
+        # rospy.loginfo('{}: Shutting down'.format(node_name))
+        print('{}: Shutting down'.format(node_name))
+        s.close()
+
+    # rospy.on_shutdown(shutdown_hook)
+
+    # while not rospy.is_shutdown():
+    while True:
+        time.sleep(0.001)  # this is a hack, make this a ros2 node
+        try:
+            msg = create_rsi_xml_rob(act_joint_pos, cmd_joint_pos, timeout_count, ipoc)
+            # rsi_act_pub.publish(str(msg))
+            s.sendto(msg, (host, port))
+            recv_msg, addr = s.recvfrom(1024)
+            # rsi_cmd_pub.publish(str(recv_msg))
+            des_joint_correction_absolute, ipoc_recv = parse_rsi_xml_sen(recv_msg)
+            act_joint_pos = cmd_joint_pos + des_joint_correction_absolute
+            ipoc += 1
+            time.sleep(cycle_time / 2)
+        except socket.timeout:
+            # rospy.logwarn('{}: Socket timed out'.format(node_name))
+            print('{}: Socket timed out'.format(node_name))
+            timeout_count += 1
+        except socket.error as e:
+            if e.errno != errno.EINTR:
+                raise
+
+
+if __name__ == '__main__':
+    main()

kuka_rsi_simulator/scripts/kuka_rsi_simulator

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 import socket
@@ -7,8 +7,8 @@ import time
 import xml.etree.ElementTree as ET
 
 import errno
-import rospy
-from std_msgs.msg import String
+# import rospy
+# from std_msgs.msg import String
 
 def create_rsi_xml_rob(act_joint_pos, setpoint_joint_pos, timeout_count, ipoc):
     q = act_joint_pos
@@ -35,8 +35,8 @@ def parse_rsi_xml_sen(data):
     return desired_joint_correction, int(IPOC)
 
 node_name = 'kuka_rsi_simulation'
-rsi_act_pub = rospy.Publisher(node_name + '/rsi/state', String, queue_size=1)
-rsi_cmd_pub = rospy.Publisher(node_name + '/rsi/command', String, queue_size=1)
+# rsi_act_pub = rospy.Publisher(node_name + '/rsi/state', String, queue_size=1)
+# rsi_cmd_pub = rospy.Publisher(node_name + '/rsi/command', String, queue_size=1)
 
 cycle_time = 0.004
 act_joint_pos = np.array([0, -90, 90, 0, 90, 0]).astype(np.float64)
@@ -48,47 +48,53 @@ ipoc = 0
 if __name__ == '__main__':
     import argparse
     parser = argparse.ArgumentParser(description='KUKA RSI Simulation')
-    parser.add_argument('rsi_hw_iface_ip', help='The ip address of the RSI control interface')
-    parser.add_argument('rsi_hw_iface_port', help='The port of the RSI control interface')
+    parser.add_argument('--rsi_hw_iface_ip', default="127.0.0.1", help='The ip address of the RSI control interface (default=127.0.0.1)')
+    parser.add_argument('--rsi_hw_iface_port', default=49152, help='The port of the RSI control interface (default=49152)')
     parser.add_argument('--sen', default='ImFree', help='Type attribute in RSI XML doc. E.g. <Sen Type:"ImFree">')
     # Only parse known arguments
     args, _ = parser.parse_known_args()
     host = args.rsi_hw_iface_ip
     port = int(args.rsi_hw_iface_port)
     sen_type = args.sen
 
-    rospy.init_node(node_name)
-    rospy.loginfo('{}: Started'.format(node_name))
+    # rospy.init_node(node_name)
+    # rospy.loginfo('{}: Started'.format(node_name))
 
     try:
         s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-        rospy.loginfo('{}, Successfully created socket'.format(node_name))
+        # rospy.loginfo('{}, Successfully created socket'.format(node_name))
+        print('{}, Successfully created socket'.format(node_name))
         s.settimeout(1)
     except socket.error as e:
-        rospy.logfatal('{}Could not create socket'.format(node_name))
+        # rospy.logfatal('{}Could not create socket'.format(node_name))
+        print('{}Could not create socket'.format(node_name))
         sys.exit()
 
     def shutdown_hook():
-        rospy.loginfo('{}: Shutting down'.format(node_name))
+        # rospy.loginfo('{}: Shutting down'.format(node_name))
+        print('{}: Shutting down'.format(node_name))
         s.close()
 
-    rospy.on_shutdown(shutdown_hook)
+    # rospy.on_shutdown(shutdown_hook)
 
-    while not rospy.is_shutdown():
+    # while not rospy.is_shutdown():
+    while True:
+        time.sleep(0.001)  # this is a hack, make this a ros2 node
         try:
             msg = create_rsi_xml_rob(act_joint_pos, cmd_joint_pos, timeout_count, ipoc)
-            rsi_act_pub.publish(msg)
+            # rsi_act_pub.publish(str(msg))
             s.sendto(msg, (host, port))
             recv_msg, addr = s.recvfrom(1024)
-            rsi_cmd_pub.publish(recv_msg)
+            # rsi_cmd_pub.publish(str(recv_msg))
             des_joint_correction_absolute, ipoc_recv = parse_rsi_xml_sen(recv_msg)
             act_joint_pos = cmd_joint_pos + des_joint_correction_absolute
             ipoc += 1
             time.sleep(cycle_time / 2)
-        except socket.timeout, msg:
-            rospy.logwarn('{}: Socket timed out'.format(node_name))
+        except socket.timeout:
+            # rospy.logwarn('{}: Socket timed out'.format(node_name))
+            print('{}: Socket timed out'.format(node_name))
             timeout_count += 1
-        except socket.error, e:
+        except socket.error as e:
             if e.errno != errno.EINTR:
                 raise
 

kuka_rsi_simulator/scripts/kuka_rsi_simulator.orig

@@ -0,0 +1,94 @@
+#!/usr/bin/env python
+
+import sys
+import socket
+import numpy as np
+import time
+import xml.etree.ElementTree as ET
+
+import errno
+import rospy
+from std_msgs.msg import String
+
+def create_rsi_xml_rob(act_joint_pos, setpoint_joint_pos, timeout_count, ipoc):
+    q = act_joint_pos
+    qd = setpoint_joint_pos
+    root = ET.Element('Rob', {'TYPE':'KUKA'})
+    ET.SubElement(root, 'RIst', {'X':'0.0', 'Y':'0.0', 'Z':'0.0',
+                                 'A':'0.0', 'B':'0.0', 'C':'0.0'})
+    ET.SubElement(root, 'RSol', {'X':'0.0', 'Y':'0.0', 'Z':'0.0',
+                                 'A':'0.0', 'B':'0.0', 'C':'0.0'})
+    ET.SubElement(root, 'AIPos', {'A1':str(q[0]), 'A2':str(q[1]), 'A3':str(q[2]),
+                                  'A4':str(q[3]), 'A5':str(q[4]), 'A6':str(q[5])})
+    ET.SubElement(root, 'ASPos', {'A1':str(qd[0]), 'A2':str(qd[1]), 'A3':str(qd[2]),
+                                  'A4':str(qd[3]), 'A5':str(qd[4]), 'A6':str(qd[5])})
+    ET.SubElement(root, 'Delay', {'D':str(timeout_count)})
+    ET.SubElement(root, 'IPOC').text=str(ipoc)
+    return ET.tostring(root)
+
+def parse_rsi_xml_sen(data):
+    root = ET.fromstring(data)
+    AK = root.find('AK').attrib
+    desired_joint_correction = np.array([AK['A1'], AK['A2'], AK['A3'],
+                                         AK['A4'], AK['A5'], AK['A6']]).astype(np.float64)
+    IPOC = root.find('IPOC').text
+    return desired_joint_correction, int(IPOC)
+
+node_name = 'kuka_rsi_simulation'
+rsi_act_pub = rospy.Publisher(node_name + '/rsi/state', String, queue_size=1)
+rsi_cmd_pub = rospy.Publisher(node_name + '/rsi/command', String, queue_size=1)
+
+cycle_time = 0.004
+act_joint_pos = np.array([0, -90, 90, 0, 90, 0]).astype(np.float64)
+cmd_joint_pos = act_joint_pos.copy()
+des_joint_correction_absolute = np.zeros(6)
+timeout_count = 0
+ipoc = 0
+
+if __name__ == '__main__':
+    import argparse
+    parser = argparse.ArgumentParser(description='KUKA RSI Simulation')
+    parser.add_argument('rsi_hw_iface_ip', help='The ip address of the RSI control interface')
+    parser.add_argument('rsi_hw_iface_port', help='The port of the RSI control interface')
+    parser.add_argument('--sen', default='ImFree', help='Type attribute in RSI XML doc. E.g. <Sen Type:"ImFree">')
+    # Only parse known arguments
+    args, _ = parser.parse_known_args()
+    host = args.rsi_hw_iface_ip
+    port = int(args.rsi_hw_iface_port)
+    sen_type = args.sen
+
+    rospy.init_node(node_name)
+    rospy.loginfo('{}: Started'.format(node_name))
+
+    try:
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        rospy.loginfo('{}, Successfully created socket'.format(node_name))
+        s.settimeout(1)
+    except socket.error as e:
+        rospy.logfatal('{}Could not create socket'.format(node_name))
+        sys.exit()
+
+    def shutdown_hook():
+        rospy.loginfo('{}: Shutting down'.format(node_name))
+        s.close()
+
+    rospy.on_shutdown(shutdown_hook)
+
+    while not rospy.is_shutdown():
+        try:
+            msg = create_rsi_xml_rob(act_joint_pos, cmd_joint_pos, timeout_count, ipoc)
+            rsi_act_pub.publish(msg)
+            s.sendto(msg, (host, port))
+            recv_msg, addr = s.recvfrom(1024)
+            rsi_cmd_pub.publish(recv_msg)
+            des_joint_correction_absolute, ipoc_recv = parse_rsi_xml_sen(recv_msg)
+            act_joint_pos = cmd_joint_pos + des_joint_correction_absolute
+            ipoc += 1
+            time.sleep(cycle_time / 2)
+        except socket.timeout, msg:
+            rospy.logwarn('{}: Socket timed out'.format(node_name))
+            timeout_count += 1
+        except socket.error, e:
+            if e.errno != errno.EINTR:
+                raise
+

kuka_rsi_simulator/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/kuka_rsi_simulator
+[install]
+install-scripts=$base/lib/kuka_rsi_simulator

kuka_rsi_simulator/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'kuka_rsi_simulator'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='dmitri',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+	    'kuka_rsi_simulator = kuka_rsi_simulator.kuka_rsi_simulator:main'
+        ],
+    },
+)