simple_move_rosless.xml
This example application shows a minimal project.
A UR5 moves to a target (LIN). Then the application terminates.
Models used
skill_lin: lines 57
skill_sequence: lines 48
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows a minimal project.
4
5A UR5 moves to a target (LIN). 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 skills -->
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 id="robot" prototype="robot_ur5">
33 <member id="robot_driver">
34 <clone prototype="simple_robot_driver">
35 <member id="joint_names" reference_id="joint_names"/>
36 <member id="urdf_package">pitasc_common</member>
37 <member id="urdf_file">urdf/ur5_rosless.urdf</member>
38 <member id="max_velocity">2.0</member>
39 <member id="max_acceleration">3.0</member>
40 </clone>
41 </member>
42 </clone>
43 </member>
44
45 <member id="applications">
46
47 <!-- Use a skill sequence as a container -->
48 <clone prototype="skill_sequence">
49
50 <!-- Use the UR5 for this skill (and for its subskill) -->
51 <member id="robot" reference_id="environment.robot"/>
52
53 <!-- Add subskill(s) -->
54 <member id="skills">
55
56 <!-- Move to target1 (lin) -->
57 <clone prototype="skill_lin">
58 <member id="tool_frame">tool</member>
59 <member id="target_frame">target1</member>
60 </clone>
61
62 </member>
63
64 </clone>
65
66 </member>
67
68 </clone>
69
70</pitasc>