How to attach a monitor to a Skill

First, you have to include the monitor by adding the include statement at the start of the <models> tag.

<pitasc>
    <models>
        <include package="package_name" file="path/monitor_file.xml"/>
    ...

Note

For adding all in pitasc already defined monitors, use the following include statement, which you can also find in every example application file.

<include package="pitasc_library" file="models/pitasc.xml"/>

There are two options for attaching a monitor to a skill. The first option is to create a child of the monitor directly inside the <member id="monitors"> tag of the skill. Either use the <clone> or the <type> tag to add a monitor. For more information about these tags and their uses, look at How to add a parameter to a skill, monitor, ….

<member id="monitors">
    <clone id="monitor_id" prototype="monitor_example">
        <member id="parameter">value</member>
        ...
    </clone>
</member>

The second option is to create the child of the monitor outside the <member id="monitors"> tag as a parameter of the skill and create a reference to this monitor parameter using the <reference> tag inside the <member id="monitors"> tag. This option has lower readability and thus, it is not recommended.

Note

See also the xml reference of Monitors

Example 1: Attach monitor to skill

<pitasc>
    <...>

    <clone prototype="project">
        <...>

        <member id="applications">
            <clone prototype="skill_sequence">
                <member id="robot" reference_id="environment.robot_ur5"/>
                <member id="skills">
                    <!-- Move to starting position -->
                    <clone prototype="skill_lin">
                        <member id="tool_frame">tool</member>
                        <member id="target_frame">start_position</member>
                        <member id="target_offsets">0.0, -0.15, 0.0, 0.0, 0, 0.0</member>
                        <member id="monitors">
                            <!-- stops this skill after 3 seconds -->
                            <clone prototype="monitor_duration">
                                <member id="duration">3</member>
                            </clone>
                        </member>
                    </clone>
                </member>
            </clone>
        </member>
    </clone>
</pitasc>

Example 2: Attach monitor to skill definition

<type id="skill_idle_duration" prototype="skill_idle">
    <meta>
        <member id="description">A skill that keeps the robot position for a given duration</member>
    </meta>
    <data>
        <type id="duration" prototype="float_parameter">
            <meta>
                <member id="description">Skill duration in [s].</member>
                <member id="visibility">basic</member>
            </meta>
            <data>1.0</data>
        </type>

        <member id="monitors">
            <clone prototype="monitor_duration">
                <member id="event">succeeded</member>
                <member id="duration" reference_id="duration"/>
            </clone>
        </member>
    </data>
</type>