Trigger yaskawa movement jobs through ROS driver

[akashjinandra]

Hello we have a YRC1000 controller using the latest MotoRos 1.91. Running Ubuntu 18.04 on Melodic. We are wondering if you trigger a job that's on the pendant from ROS. This could be from an IO or even a register.

For instance we have a ROS/moveit trajectory we want to execute for moving around an obstacle and it ends at the home position. Could we then trigger a job on the pendant that could go from the home pose to do a tool change, and then come back to the home pose?

Thanks

[gavanderhoorn]

Just an observation:

using the latest MotoRos 1.91 [..]

The current release is 1.9.10.

[EricMarcil]

@akashjinandra It is possible to run both ROS motion and yaskawa jobs.
Basically, the requirement for ROS motion to be accepted by the controller is to be on the WAIT instructions of the INIT_ROS job. When stopping the trajectory mode, the handshake completes and the normal INIT_ROS job continues pass the WAIT instruction.
So you could have a more elaborate ROS_INIT job where you are selecting on calling other subjob (CALL JOB: TOOL_CHANGE) or doing the ROS control handshake based in I/O signals that you could set the changes from PR #435.

[Runesmacher]

We have modified the INIT_ROS and tested it with our robot.
Attached you can find a modified INIT_ROS that can be helpful for anyone that wants to do something like this.

We found that the wait command is very important, so it needs to be an expression that always checks ROS_DONE and whatever you are using to select which job to run (In our case we used some outputs)

INIT_ROS.TXT

[gavanderhoorn]

Taking a step back: @akashjinandra: if I understand you correctly, you are not asking "can I execute a job other than INIT_ROS while motoman_driver's trajectory mode is still active?", correct?

If you just want to be able to run a different job, while motoman_driver is just "sitting there", then I believe you should be able to stop trajectory mode, do whatever you want to do (ie: trigger another job), restart trajectory mode and then continue using motoman_driver.

Unless I misunderstand what you want to do, I don't believe you'd need to modify INIT_ROS for this.

[akashjinandra]

@akashjinandra the problem with this is that another job on the pendant can't run because the loop is stuck on the wait command for ROS, which is why we had to edit it like @Runesmacher showed. He might be able to give a better explanation