track_frame.xml

This example application shows the usage of monitors.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the usage of monitors.
 4
 5-->
 6
 7<pitasc>
 8
 9    <models>
10        <include package="pitasc_library" file="models/pitasc.xml"/>
11        <include package="pitasc_library" file="models/skills.xml"/>
12
13        <include package="pitasc_library" file="universal_robots/ur.xml"/>
14    </models>
15
16    <clone prototype="project">
17
18        <member id="configuration">
19            <clone id="configuration" prototype="default_configuration"/>
20        </member>
21
22        <member id="environment">
23            <clone prototype="robot_ur5">
24                <member id="robot_driver.max_velocity">2.0</member>
25                <member id="robot_driver.max_acceleration">3.0</member>
26            </clone>
27        </member>
28
29        <member id="applications">
30            <clone prototype="skill_sequence">
31
32                <member id="robot" reference_id="environment.robot_ur5"/>
33
34                <member id="skills">
35
36                    <clone prototype="skill_cartesian_tracking">
37                        <member id="skill_name">track_duration</member>
38                        <member id="tool_frame">tool</member>
39                        <member id="target_frame">marker</member>
40
41                        <!-- Quit after 5 seconds -->
42                        <member id="monitors">
43                            <clone prototype="monitor_duration">
44                                <member id="duration">30.0</member>
45                            </clone>
46                        </member>
47
48                    </clone>
49
50                </member>
51
52            </clone>
53        </member>
54
55    </clone>
56
57</pitasc>