718_custom_instruction.py

import compas_rrc as rrc

if __name__ == "__main__":
    # Create Ros Client
    ros = rrc.RosClient()
    ros.run()

    # Create ABB Client
    abb = rrc.AbbClient(ros, "/rob1")
    print("Connected.")

    # Custom instruction name (RAPID Procedure name)
    instruction = "r_RRC_CustomInstruction"

    # string vlaue list of 8 strings
    string_values = ["Mytext Text"]

    # float value list of 36 floats
    float_values = [42]

    # Custom instruction
    done = abb.send_and_wait(rrc.CustomInstruction(instruction, string_values, float_values))

    # Print feedback
    print("Feedback = ", done)

    # End of Code
    print("Finished")

    # Close client
    ros.close()