Best Of

Re: Can I skip a part of my programme if a Digital input changes state

Put your code inside and if statement, then if the of statement is not made it will skip to the next section.

If(digital-in-0 == True):
  do sometbing
end
if (digital-in-1 == True):
  do something
end
.... you can also write the if statement like this 

if (digital-in-2):
  do something else
end

Re: How to rotate UR5e with respect to base frame

@jelms Wow, awesome - I think this is the solution. I just tested it and it works like the manual jogging. That is really great and you helped me a lot - to solve the problem and to learn more about pose_trans, pose_add and the math. Thank you very much for your kind help

@matthewd92 Thank you for testing this and for your time to help me.

You guys are great !!!

Re: How to rotate UR5e with respect to base frame

@jelms that is awesome, thanks for that. I had tried something similar last night but forgot the pose_trans as an argument. I have tested in the simulator and that appears to do exactly what we have been looking for. I wrote a small script function that would make this easier to use in an actual program, it works like a pose_add but adds the rotational element in the base frame.

Re: USB port on TP

Thank you very much

Python GUI to visualize the image of a Robotiq Wrist Camera connected on a UR robot

I would like to share with you a python project I did to visualize the image of a Robotiq Wrist Camera connected on a UR robot from a PC.

Note that when a program is running on the robot, only the image of the last camlocate node will be returned by the camera.
Also, this program is sending request to the Wrist Camera URCAP server to get image. This can potentially affect the performance of the camera.

This use libraries like: pillow, tkinter,...

You can find the code on my git:
https://github.com/castetsb/rwcLive

Re: Robotiq gripper with UR5 CB3 thru wrist connector ?

Hello @Abdu ,

Thanks for reaching out to us! Indeed, for CB3 UR5, Robotiq currently only officially supports using ROS with the gripper directly connected to the ROS machine. In fact, if you connect the gripper to the wrist, it becomes a serial device connected to the UR5 controller, hence not directly accessible from your ROS machine anymore.

However, to be honest with you, your question coincidentally occurs at the same time I'm actually trying to help another customer trying to do the exact same thing as you. I cannot give any guarantee right now that this will work (or be easy) since it's the first time I'm trying to solve this, but I feel what you are trying to do should be feasible using socat relays. if you are willing to give this a try, you could start by trying the following:

1. Run the socat command (sudo socat pty,link=/dev/ttyUSB0,raw,ignoreeof,waitslave tcp:<robot-ip>:54321) on your ROS machine and confirm that you have /dev/ttyUSB0 device afterwards. Also, make sure to replace <robot-ip> with the true IP address of your robot.
2. Still on your ROS machine, run: "chmod 777 /dev/ttyUSB0" to provide the symbolic link read and write permissions

3. Then, ssh into the ur controller (with username=root and password=easybot) and confirm there is a /dev/ttyUSB0 device there too.

4. Still on the UR Robot, give read and write permissions to the device for everybody: sudo chmod 777 /dev/ttyUSB0

5. Then run the following socat command meant specifically for the ur: socat tcp-l:54321,reuseaddr,fork file:/dev/ttyUSB0,nonblock,raw,waitlock=/var/run/tty
6. Then, back on your ROS machine: rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB0 which hopefully will run with no errors (only a warning). You should now also see the gripper's led color switch from red to blue.
7. On your ROS machine, you can now try running the simple controller script: rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py to interact with the gripper.

This method is very much inspired from how peripheral forwarding works on eseries UR robot. Basically, what this does is the redirection of everything Robotiq2FGripperRtuNode.py was trying to send to /dev/ttyUSB0 directly to your robot, using its IP address and a free arbitrary port (54321). Then, on the robot side, everything your robot will receive on port 54321 will be redirected to /dev/ttyUSB0, which should be your physical device. Please note that you should make sure both socat commands run at the same time on both ends (your computer & the UR controller). Make sure /dev/ttyUSB0 exists on both ends too. Additionally, for debug purposes and/or to make sure everything is alright, you could ssh in the robot, run its associated socat command (see step #5 above) and then check the output of:

sudo netstat -tulpn | grep LISTEN | grep 54321

This command should output only one line, confirming that the port "54321" is indeed opened and listening. If you are able to see the gripper's led switching from red to blue at step #6 above, this is a very good sign (i.e. communication is working). However, chances are you could still suffer from latency issues afterwards too. If you reach that point however, I will most likely be able to provide a patch for you to make it work.

I know this is a lot of information and I would still recommend to connect your gripper directly to your ROS machine if possible. Doing so, you will most probably avoid a lot of potential troubles. However, if it is impossible for you to do so, I'll be happy to assist you the best I can, however without any guarantee unfortunately I'm afraid.

Please don't hesitate to write back to me, should you have any other questions or concerns.

Best regards,

Jean-Philippe Roberge,
ROS Package Developper / Maintainer
[email protected]

Re: Robotiq wrist camera: Detect an unlimited number of object types without any object teaching

Here is the program and a PDF version of the detection sheet.

Re: Circle move with an alpha angle all the path

@bcastets

Right ! I thought about this solution but first I want to try a program that could make this possible..

Re: How to load and start a program on a UR10e via TCP/IP socket?

You need to use the dashboard server commands at port 29999. This will allow you to load a program and then play, pause or stop it remotely. YOu can read more about the dashboard server for e-series here

Re: UR Motion

You can simply set one of the configurable outputs to be Robot Moving. Per the UR manual this output would be low when moving and high when not moving. So you could just monitor that output in the PLC. Are you using EIP or Profinet?

This is from the UR manual