AbbClient

class compas_rrc.AbbClient

Bases: object

Client used to communicate with ABB robots via ROS.

This client handles all communication over ROS topics, and implements blocking behaviors as an application-level construct.

Examples

Connection example to a single robot:

# Create Ros Client
ros = rrc.RosClient()
ros.run()

# Create ABB Client
abb = rrc.AbbClient(ros, '/rob1')
print('Connected.')

# Close client
ros.close()
ros.terminate()

Advance connection example to multiple robots:

# Create Ros Client
ros = rrc.RosClient()
ros.run()

# Create ABB Clients
abb_rob1 = rrc.AbbClient(ros, '/rob1')
abb_rob2 = rrc.AbbClient(ros, '/rob2')

# Clients are connected
print('Connected.')

# Print Text
abb_rob1.send(rrc.PrintText('Hello Robot 1'))
abb_rob2.send(rrc.PrintText('Hello Robot 2'))

# Close client
ros.close()
ros.terminate()

Methods

ensure_protocol_version	Ensure protocol version on the server matches the protocol version on the client.
feedback_callback	Internal method.
send	Sends an instruction to the robot without waiting.
send_and_subscribe	Send instruction and activate a service on the robot to stream feedback at a regular inverval.
send_and_wait	Send instruction and wait for feedback.
version_check	Check if the protocol version on the server matches the protocol version on the client.