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600-pick-and-place.ghx
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<item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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<item name="CodeInput" type_name="gh_string" type_code="10">"""
Connect or disconnect to ROS.
COMPAS FAB v0.27.0
"""
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st
from compas_fab.backends import RosClient
from compas_fab.ghpython.components import create_id
class ROSConnect(component):
def RunScript(self, ip, port, connect):
ros_client = None
ip = ip or '127.0.0.1'
port = port or 9090
key = create_id(self, 'ros_client')
ros_client = st.get(key, None)
if ros_client:
st[key].close()
if connect:
st[key] = RosClient(ip, port)
st[key].run(5)
ros_client = st.get(key, None)
is_connected = ros_client.is_connected if ros_client else False
return (ros_client, is_connected)
</item>
<item name="Description" type_name="gh_string" type_code="10">Connect or disconnect to ROS.
COMPAS FAB v0.27.0</item>
<item name="HideInput" type_name="gh_bool" type_code="1">true</item>
<item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
<item name="IconDisplay" type_name="gh_int32" type_code="3">2</item>
<item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
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<item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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<chunk name="Container">
<items count="12">
<item name="CodeInput" type_name="gh_string" type_code="10">"""
Load robot directly from ROS.
COMPAS FAB v0.27.0
"""
from compas_ghpython.artists import RobotModelArtist
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st
from compas_fab.ghpython.components import create_id
class ROSRobot(component):
def RunScript(self, ros_client, load):
key = create_id(self, 'robot')
if ros_client and ros_client.is_connected and load:
# Load URDF from ROS
st[key] = ros_client.load_robot(load_geometry=True, precision='12f')
st[key].artist = RobotModelArtist(st[key].model)
robot = st.get(key, None)
if robot: # client sometimes need to be restarted, without needing to reload geometry
robot.client = ros_client
return robot
</item>
<item name="Description" type_name="gh_string" type_code="10">Load robot directly from ROS.
COMPAS FAB v0.27.0</item>
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<item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
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