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Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_apps.git
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: release_electric)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: release_fuerte)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: groovy)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Maintainer status: developed
- Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: LGPL
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: hydro_release_candidate)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>, Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: indigo_release_candidate)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Maintainer status: developed
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>, Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: indigo_release_candidate)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Maintainer status: maintained
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>, Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_command_tools.git (branch: indigo_release_candidate)
Package Summary
The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.
- Maintainer status: end-of-life
- Maintainer: Felix Messmer <felixmessmer AT gmail DOT com>, Florian Weisshardt <fmw AT ipa.fhg DOT de>
- Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
- License: Apache 2.0
- Source: git https://github.com/4am-robotics/cob_command_tools.git (branch: indigo_dev)
Contents
Hardware Requirements
This package was created to be used with Care-O-bot but is not limited to one specific robot. It can be used for a real robot as well as for a simulated one (see cob_bringup).
Python API
This package provides all methods as a python API (see Tutorials). The table below shows a summary of the most important commands and their parameters.
command |
component name |
parameter name |
example |
explanation |
init() |
base|torso| tray|arm|sdh |
-- |
sss.init("base") |
initializes component |
recover |
base|torso| tray|arm|sdh |
-- |
sss.recover("base") |
recovers component after emergency stop |
stop |
base|torso| tray|arm|sdh |
-- |
sss.stop("base") |
stops current goal of component |
move |
torso|tray| arm|sdh |
string of parameter |
sss.move("torso","front") |
move component to predefined joint configuration |
move |
torso|tray| arm|sdh |
list of points with joint values |
sss.move("torso", [[0, 0, 0, 0], [0.1, 0, 0.2, 0], [...], ...]) |
move component to joint configuration |
move |
base |
string of parameter |
sss.move("base","home") |
move component to predefined pose |
move |
base |
[x,y,th] in map coordinates |
sss.move("base",[0, 0, 0]) |
move component to pose | |
move_base_rel |
base |
[x,y,th] in base_link relative coordinates |
sss.move_base_rel("base",[0, 0, 1.57]) |
move relative pose base | |
sleep |
-- |
time in seconds |
sss.sleep(2.0) |
sleeps |
wait_for_input |
-- |
-- |
ret = sss.wait_for_input() |
wait for a keyboard input |
say |
-- |
string of parameter |
sss.say("sentence1") |
says a predefined string |
say |
-- |
list of strings |
sss.say(["Hello."]) |
says a string |
set_light |
-- |
string |
sss.set_light("red") |
sets LEDs to a predefined color |
set_light |
-- |
[r,b,g] |
sss.set_light([0.5,0.5,0.5]) |
sets LEDs to a rgb color |
Each of the above function (except wait_for_input, which returns the keyboard input) returns a handle which offers the following commands.
command |
example |
explanation |
wait() |
handle.wait() |
waits forever until the command is finished |
wait(timeout) |
handle.wait(2.0) |
waits until the command is finished, but max. for timeout seconds |
get_state() |
handle.get_state() |
gets the state of the current execution (see actionlib_msgs/GoalStatus) |
Terminal API
By running
rosrun cob_script_server cob_console
you can access all script_server commands in an ipython terminal with the prefix sss, e.g.
sss.move("head","front")
Actionlib API
All functions from the python API are also available as actionlib calls.
script_server
The script server node takes in cob_script_server/ScriptAction messages and send this to the robot to be executed.Action Goal
script_server/goal (cob_script_server/ScriptActionGoal)- The goal describes the script action command the robot has to execute
Action Result
script_server/result (cobscript_server/ScriptActionResult)- Returns an error code
Action Feedback
script_server/feedback (cob_script_server/ScriptActionFeedback)- empty
Usage/Examples
For starting the script server and upload parameters
roslaunch cob_script_server script_server.launch
For running a test script
rosrun cob_script_server test_script.py
For running the script viewer
rosrun cob_script_server script_viewer.py
All the parameters that are loaded in the name space /script_server are defined in .yaml files in the package cob_default_robot_config.
Tutorials
Tutorials can be found on the Tutorials page.
