rosservice_calls.xml
This example application shows a minimal project.
A UR5 idles for 3 seconds. Then the application terminates.
Models used
script_call_empty_srvs: lines 54, 77
script_call_setbool_srvs: lines 61, 86
script_call_trigger_srvs: lines 57, 81
skill_hold_duration: lines 50, 73
skill_ptp: lines 45, 69
skill_sequence: lines 38
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows a minimal project.
4
5A UR5 idles for 3 seconds. Then the application terminates.
6-->
7
8<pitasc>
9
10 <models>
11 <!-- Include pitasc -->
12 <include package="pitasc_library" file="models/pitasc.xml"/>
13
14 <!-- Include the UR5 -->
15 <include package="pitasc_library" file="universal_robots/ur.xml"/>
16
17 <!-- Include the idle skill -->
18 <include package="pitasc_library" file="models/skills.xml"/>
19
20 </models>
21
22 <!-- Create a project -->
23 <clone prototype="project">
24
25 <member id="configuration">
26 <!-- Use the default configuration with recommended settings -->
27 <clone id="configuration" prototype="default_configuration"/>
28 </member>
29
30 <member id="environment">
31 <!-- Add a UR5 -->
32 <clone prototype="robot_ur5"/>
33 </member>
34
35 <member id="applications">
36
37 <!-- Use a skill sequence as a container -->
38 <clone prototype="skill_sequence">
39
40 <!-- Use the UR5 for this skill (and for its subskill) -->
41 <member id="robot" reference_id="environment.robot_ur5"/>
42
43 <!-- Add subskill(s) -->
44 <member id="skills">
45 <clone prototype="skill_ptp">
46 <member id="target_joint_state">0, -1.57, 1.57, 0, -1.57, -1.57</member>
47 </clone>
48
49 <!-- Idle for 3 seconds -->
50 <clone prototype="skill_hold_duration">
51 <member id="duration">3.0</member>
52 <member id="tool_frame">tool</member>
53 <member id="scripts">
54 <clone prototype="script_call_empty_srvs">
55 <member id="service_name">test_srv</member>
56 </clone>
57 <clone prototype="script_call_trigger_srvs">
58 <member id="service_name">test</member>
59 <member id="retries">5</member>
60 </clone>
61 <clone prototype="script_call_setbool_srvs">
62 <member id="retries">5</member>
63 <member id="service_name">test_bool</member>
64 <member id="value">True</member>
65 </clone>
66 </member>
67 </clone>
68
69 <clone prototype="skill_ptp">
70 <member id="target_joint_state">0, 1.57, 1.57, 0, -1.57, -1.57</member>
71 </clone>
72
73 <clone prototype="skill_hold_duration">
74 <member id="duration">3.0</member>
75 <member id="tool_frame">tool</member>
76 <member id="scripts">
77 <clone prototype="script_call_empty_srvs">
78 <member id="service_name">test_srv</member>
79 <member id="on_start">false</member>
80 </clone>
81 <clone prototype="script_call_trigger_srvs">
82 <member id="retries">6</member>
83 <member id="service_name">test</member>
84 <member id="on_start">false</member>
85 </clone>
86 <clone prototype="script_call_setbool_srvs">
87 <member id="retries">6</member>
88 <member id="service_name">test_bool</member>
89 <member id="value">False</member>
90 <member id="on_start">false</member>
91 </clone>
92 </member>
93 </clone>
94
95 </member>
96
97 </clone>
98
99 </member>
100
101 </clone>
102
103</pitasc>