Add robot raconteur driver module, entrypoint, and tests

config/abb_1200_5_90_rws_default_config.yml

@@ -0,0 +1,148 @@
+
+device_info:
+  device:
+    name: abb_robot_rws
+  manufacturer:
+    name: ABB
+    uuid: ee260e78-d731-415a-84ca-4b02c487410c
+  model:
+    name: ABB_1200_5_90
+    uuid: 9ad3c0ee-ec5e-4057-a297-d340e1484f01
+  user_description: ABB Robot
+  serial_number: 123456789
+  device_classes:
+    - class_identifier:
+        name: robot
+        uuid: 39b513e7-21b9-4b49-8654-7537473030eb
+      subclasses: 
+        - serial
+        - serial_six_axis        
+  implemented_types:
+    - experimental.robotics.motion_program.MotionProgramRobot
+robot_type: serial
+robot_capabilities:
+- jog_command
+- trajectory_command
+- position_command
+chains:
+- kin_chain_identifier: robot_arm
+  H:
+  - x: 0.0
+    y: 0.0
+    z: 1.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 1.0
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 1.0
+    y: 0.0
+    z: 0.0
+  P:
+  - x: 0.0
+    y: 0.0
+    z: 0.3991
+  - x: 0.0
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 0.0
+    z: 0.448
+  - x: 0.0
+    y: 0.0
+    z: 0.042
+  - x: 0.451
+    y: 0.0
+    z: 0.0
+  - x: 0.082
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 0.0
+    z: 0.0
+  flange_identifier: tool0
+  flange_pose:
+    orientation:
+      w: 0.7071067811882787
+      x: 0.0
+      y: 0.7071067811848163
+      z: 0.0
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+  joint_numbers:
+  - 0
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5  
+joint_info:
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_1
+  joint_limits:
+    effort: 1000.0
+    lower: -2.967
+    upper: 2.967
+    velocity: 5.027
+    acceleration: 10
+  joint_type: revolute
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_2
+  joint_limits:
+    effort: 1000.0
+    lower: -1.745
+    upper: 2.269
+    velocity: 4.189
+    acceleration: 15
+  joint_type: revolute
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_3
+  joint_limits:
+    effort: 1000.0
+    lower: -3.491
+    upper: 1.222
+    velocity: 5.236
+    acceleration: 15
+  joint_type: revolute
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_4
+  joint_limits:
+    effort: 1000.0
+    lower: -4.712
+    upper: 4.712
+    velocity: 6.981
+    acceleration: 20
+  joint_type: revolute
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_5
+  joint_limits:
+    effort: 1000.0
+    lower: -2.269
+    upper: 2.269
+    velocity: 7.069
+    acceleration: 20
+  joint_type: revolute
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_6
+  joint_limits:
+    effort: 1000.0
+    lower: -6.283
+    upper: 6.283
+    velocity: 10.472
+    acceleration: 20
+  joint_type: revolute

config/abb_6700_150_320_rws_default_config.yml

@@ -0,0 +1,154 @@
+
+device_info:
+  device:
+    name: abb_robot_rws
+  manufacturer:
+    name: ABB
+    uuid: ee260e78-d731-415a-84ca-4b02c487410c
+  model:
+    name: ABB_IRB6700_150_320
+    uuid: 9d43d745-dbea-4a88-ac18-43a64bca67eb
+  user_description: ABB Robot
+  serial_number: 123456789
+  device_classes:
+    - class_identifier:
+        name: robot
+        uuid: 39b513e7-21b9-4b49-8654-7537473030eb
+      subclasses: 
+        - serial
+        - serial_six_axis        
+  implemented_types:
+    - com.robotraconteur.robotics.robot.Robot
+robot_type: serial
+robot_capabilities:
+- jog_command
+- trajectory_command
+- position_command
+chains:
+- H:
+  - x: 0.0
+    y: 0.0
+    z: 1.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 1.0
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 1.0
+    z: 0.0
+  - x: 1.0
+    y: 0.0
+    z: 0.0
+  P:
+  - x: 0.0
+    y: 0.0
+    z: 0.78
+  - x: 0.32
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 0.0
+    z: 1.280
+  - x: 0.0
+    y: 0.0
+    z: 0.2
+  - x: 1.5925
+    y: 0.0
+    z: 0.0
+  - x: 0.2
+    y: 0.0
+    z: 0.0
+  - x: 0.0
+    y: 0.0
+    z: 0.0
+  flange_identifier: tool0
+  flange_pose:
+    orientation:
+      w: 0.707107
+      x: 0.0
+      y: 0.707107
+      z: 0.0
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+  joint_numbers:
+  - 0
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5
+  kin_chain_identifier: robot_arm
+joint_info:
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_1
+  joint_limits:
+    effort: 0.0
+    lower: -2.96706
+    upper: 2.96706
+    velocity: 1.745329
+    acceleration: 10
+  joint_type: revolute
+  passive: false
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_2
+  joint_limits:
+    effort: 0.0
+    lower: -1.134464
+    upper: 1.48353
+    velocity: 1.570796
+    acceleration: 15
+  joint_type: revolute
+  passive: false
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_3
+  joint_limits:
+    effort: 0.0
+    lower: -3.141593
+    upper: 1.22173
+    velocity: 1.570796
+    acceleration: 15
+  joint_type: revolute
+  passive: false
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_4
+  joint_limits:
+    effort: 0.0
+    lower: -5.235988
+    upper: 5.235988
+    velocity: 2.96706
+    acceleration: 20
+  joint_type: revolute
+  passive: false
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_5
+  joint_limits:
+    effort: 0.0
+    lower: -2.268928
+    upper: 2.268928
+    velocity: 2.094395
+    acceleration: 20
+  joint_type: revolute
+  passive: false
+- default_effort_units: newton_meter
+  default_units: radian
+  joint_identifier: joint_6
+  joint_limits:
+    effort: 0.0
+    lower: -6.283185
+    upper: 6.283185
+    velocity: 3.316126
+    acceleration: 20
+  joint_type: revolute
+  passive: false

setup.py

@@ -22,7 +22,19 @@
     extras_require={
         "aio": ["httpx", "websockets"],
         "testing": ["pytest", "pytest-asyncio"],
+        "robotraconteur": [
+            "robotraconteur", 
+            "robotraconteurcompanion", 
+            "drekar-launch-process",
+            "robotraconteur-abstract-robot"
+        ],
     },
     long_description=long_description,
-    long_description_content_type='text/markdown'
+    long_description_content_type='text/markdown',
+    package_data={"abb_robot_client.robotraconteur": ["*.robdef"]},
+    entry_points={
+        'console_scripts': [
+            'abb-robot-client-robotraconteur=abb_robot_client.robotraconteur.abb_robotraconteur_rws_driver:main',
+        ],
+    },
 )

src/abb_robot_client/robotraconteur/__main__.py

@@ -0,0 +1,3 @@
+from .abb_robotraconteur_rws_driver import main
+
+main()