Examples: Basics¶
In this file, two short programs are implemented & commented in order to help you understand the philosophy behind the Python ROS Wrapper.
Danger
If you are using the real robot, make sure the environment around is clear.
Your first move joint¶
The following example shows a first use case. It’s a simple MoveJ.
#!/usr/bin/env python
# Imports
from niryo_robot_python_ros_wrapper import *
import rospy
# Initializing ROS node
rospy.init_node('niryo_ned_example_python_ros_wrapper')
# Connecting to the ROS Wrapper & calibrating if needed
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()
# Moving joint
niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2)
Code details - First MoveJ¶
First of all, we indicate to the shell that we are running a Python Script:
#!/usr/bin/env python
Then, we import the API package to be able to access functions:
from niryo_robot_python_ros_wrapper import *
Then, we install a ROS Node in order to communicate with ROS master:
import rospy
# Initializing ROS node
rospy.init_node('niryo_ned_example_python_ros_wrapper')
We start a NiryoRosWrapper instance:
niryo_robot = NiryoRosWrapper()
Once the connection is done, we calibrate the robot using its
calibrate_auto() function:
niryo_robot.calibrate_auto()
As the robot is now calibrated, we can do a Move Joints by giving the 6 axis positions
in radians! To do so, we use move_joints():
niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2)
Your first pick and place¶
For our second example, we are going to develop an algorithm of pick and place:
#!/usr/bin/env python
# Imports
from niryo_robot_python_ros_wrapper import *
import rospy
# Initializing ROS node
rospy.init_node('niryo_robot_example_python_ros_wrapper')
# Connecting to the ROS Wrapper & calibrating if needed
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()
# Updating tool
niryo_robot.update_tool()
# Opening Gripper/Pushing Air
niryo_robot.release_with_tool()
# Going to pick pose
niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0)
# Picking
niryo_robot.grasp_with_tool()
# Moving to place pose
niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0)
# Placing !
niryo_robot.release_with_tool()
Code details - first pick and place¶
First of all, we do the imports and start a ROS Node:
#!/usr/bin/env python
from niryo_robot_python_ros_wrapper import *
import rospy
rospy.init_node('niryo_robot_example_python_ros_wrapper')
Then, create a NiryoRosWrapper instance
& calibrate the robot:
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()
Then, we equip the tool
with update_tool()
niryo_robot.update_tool()
Now that our initialization is done, we can open the Gripper (or push air from the Vacuum pump)
with release_with_tool(),
go to the picking pose via move_pose()
& then catch an object
with grasp_with_tool()!
# Opening Gripper/Pushing Air
niryo_robot.release_with_tool()
# Going to pick pose
niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0)
# Picking
niryo_robot.grasp_with_tool()
We now get to the place pose, and place the object.
# Moving to place pose
niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0)
# Placing !
niryo_robot.release_with_tool()