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adding compatibility to RSI 4.x by providing a seperate ros_rsi.rsix #155

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adding compatibility to RSI 4.x by providing a seperate ros_rsi.rsix #155

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b3ca42f
adding compatibility to RSI 4.x by providing a seperate ros_rsi.rsix
farshbafdoustar Jul 9, 2019
7eb206f
removing file extension inside RSI_CREATE. rsi 4.x add .rsix automati…
farshbafdoustar Jul 9, 2019
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5 changes: 4 additions & 1 deletion kuka_rsi_hw_interface/krl/KR_C4/README.md
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Expand Up @@ -36,7 +36,8 @@ The files included in this folder specifies the data transferred via RSI. Some o

Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka_rsi_hw_interface` must correspond to the `IP_NUMBER`and `PORT` set in these KRL files.

##### ros_rsi.rsi.xml
##### ros_rsi.rsi.xml for RSI 3.x OR ros_rsi.rsix for RSI 4.x
Note: from KSS 8.5 the version of RSI is changed to 4.x and the format of the file is a little changed. The new file extension on RSI 4.x is .rsix. So to use this driver on KSS 8.5 and above use ros_rsi.rsix instead of ros_rsi.rsi.xml
This file may be edited with application specific joint limits in degrees.
* Edit the parameters within the RSIObject `AXISCORR` to specify joint limits such as **LowerLimA1**, **UpperLimA1** etc. Note that these limits are in reference to the start position of the robot.
* Edit the parameters within `AXISCORRMON` to specify the overall correction limitation. If this limit is exceeded in either of the joint directions, RSI is stopped. The values of **MaxA1**, **MaxA2** etc. may be large to allow free movement within the specified joint limits in `AXISCORR`.
Expand All @@ -58,6 +59,8 @@ The files **ros_rsi.rsi** and **ros_rsi.rsi.diagram** should not be edited. All
3. Log in as **Expert** or **Administrator**.
4. Copy the `ros_rsi.src` file to `KRC:\R1\Program`.
5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface`.
- for RSI 3.x : Copy ros_rsi.rsi.xml to the above folder
- for RSI 4.x : Copy ros_rsi.rsix to the above folder

## 3. Configure the kuka_rsi_hw_interface
The **kuka_rsi_hardware_interface** needs to be configured in order to successfully communicate with RSI. Inside `/kuka_rsi_hw_interface/test` and `/kuka_rsi_hw_interface/config` in this repository is a set of `*.yaml` files. These configuration files may be loaded into a launch-file used to start the **kuka_rsi_hardware_interface** with correct parameters, such as:
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81 changes: 81 additions & 0 deletions kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsix
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@@ -0,0 +1,81 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Do not change! The content of this file is generated. -->
<!-- Generated with RSIVisual WorkVisual plugin. -->
<!-- RobotSensorInterface 4.0 B3083 -->
<RsiContext xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema" Version="0.1.0">
<RsiObjects>
<RsiObject ObjTypeId="33" ObjType="AxisCorr" ObjId="AxisCorr_1">
<Inputs>
<Input InIdx="0" OutObjId="Ethernet_1" OutIdx="0" />
<Input InIdx="1" OutObjId="Ethernet_1" OutIdx="1" />
<Input InIdx="2" OutObjId="Ethernet_1" OutIdx="2" />
<Input InIdx="3" OutObjId="Ethernet_1" OutIdx="3" />
<Input InIdx="4" OutObjId="Ethernet_1" OutIdx="4" />
<Input InIdx="5" OutObjId="Ethernet_1" OutIdx="5" />
</Inputs>
<Parameters>
<Parameter Name="LowerLimA1" ParamId="0" ParamValue="-90.0" />
<Parameter Name="LowerLimA2" ParamId="1" ParamValue="-90.0" />
<Parameter Name="LowerLimA3" ParamId="2" ParamValue="-90.0" />
<Parameter Name="LowerLimA4" ParamId="3" ParamValue="-90.0" />
<Parameter Name="LowerLimA5" ParamId="4" ParamValue="-90.0" />
<Parameter Name="LowerLimA6" ParamId="5" ParamValue="-90.0" />
<Parameter Name="UpperLimA1" ParamId="6" ParamValue="90.0" />
<Parameter Name="UpperLimA2" ParamId="7" ParamValue="90.0" />
<Parameter Name="UpperLimA3" ParamId="8" ParamValue="90.0" />
<Parameter Name="UpperLimA4" ParamId="9" ParamValue="90.0" />
<Parameter Name="UpperLimA5" ParamId="10" ParamValue="90.0" />
<Parameter Name="UpperLimA6" ParamId="11" ParamValue="90.0" />
</Parameters>
</RsiObject>
<RsiObject ObjTypeId="64" ObjType="Ethernet" ObjId="Ethernet_1">
<Parameters>
<Parameter IsRuntime="false" Name="ConfigFile" ParamId="0" ParamValue="ros_rsi_ethernet.xml" />
<Parameter Name="Timeout" ParamId="0" ParamValue="100" />
<Parameter Name="Flag" ParamId="3" ParamValue="1" />
<Parameter Name="Precision" ParamId="7" ParamValue="4" />
</Parameters>
</RsiObject>
<RsiObject ObjTypeId="82" ObjType="AxisCorrMon" ObjId="AxisCorrMon_1">
<Parameters>
<Parameter Name="MaxA1" ParamId="0" ParamValue="90.0" />
<Parameter Name="MaxA2" ParamId="1" ParamValue="90.0" />
<Parameter Name="MaxA3" ParamId="2" ParamValue="90.0" />
<Parameter Name="MaxA4" ParamId="3" ParamValue="90.0" />
<Parameter Name="MaxA5" ParamId="4" ParamValue="90.0" />
<Parameter Name="MaxA6" ParamId="5" ParamValue="90.0" />
<Parameter Name="MaxE1" ParamId="6" ParamValue="6.0" />
<Parameter Name="MaxE2" ParamId="7" ParamValue="6.0" />
<Parameter Name="MaxE3" ParamId="8" ParamValue="6.0" />
<Parameter Name="MaxE4" ParamId="9" ParamValue="6.0" />
<Parameter Name="MaxE5" ParamId="10" ParamValue="6.0" />
<Parameter Name="MaxE6" ParamId="11" ParamValue="6.0" />
</Parameters>
</RsiObject>

</RsiObjects>
<Editor>
<Comments />
<Connectors />
<FunctionBlocks />
<Groups />
<Links>
<Link From="Ethernet_1" FromPort="Out1" Points="-337.48,-160.5;-209.48,-160.5;-81.48,-160.5;-81.48,-160.5;356,-160.5;372,-160.5" To="AxisCorr_1" ToPort="CorrA1" />
<Link From="Ethernet_1" FromPort="Out2" Points="-337.48,-130.5;-217.48,-130.5;-97.48,-130.5;-97.48,-130.5;356,-130.5;372,-130.5" To="AxisCorr_1" ToPort="CorrA2" />
<Link From="Ethernet_1" FromPort="Out3" Points="-337.48,-100.5;-225.48,-100.5;-113.48,-100.5;-113.48,-100.5;356,-100.5;372,-100.5" To="AxisCorr_1" ToPort="CorrA3" />
<Link From="Ethernet_1" FromPort="Out4" Points="-337.48,-70.5;-233.48,-70.5;-129.48,-70.5;-129.48,-70.5;356,-70.5;372,-70.5" To="AxisCorr_1" ToPort="CorrA4" />
<Link From="Ethernet_1" FromPort="Out5" Points="-337.48,-40.5;-241.48,-40.5;-145.48,-40.5;-145.48,-40.5;356,-40.5;372,-40.5" To="AxisCorr_1" ToPort="CorrA5" />
<Link From="Ethernet_1" FromPort="Out6" Points="-337.48,-10.5;-249.48,-10.5;-161.48,-10.5;-161.48,-10.5;356,-10.5;372,-10.5" To="AxisCorr_1" ToPort="CorrA6" />

</Links>
<Nodes>
<Node Location="390,-180" Name="AxisCorr_1" Type="AxisCorr" />
<Node Location="-516,-180" Name="Ethernet_1" NumberOfInputs="1" NumberOfOutputs="17" Type="Ethernet" />
<Node Location="636,-174" Name="AxisCorrMon_1" Type="AxisCorrMon" />

</Nodes>
<Toolboxes>
<Toolbox Name="RSI" Version="1.4.0" />
</Toolboxes>
</Editor>
</RsiContext>
14 changes: 7 additions & 7 deletions kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src
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Expand Up @@ -25,7 +25,7 @@ DEF RSI_AxisCorr( )
; Technology, nor the names of its contributors may be used to
; endorse or promote products derived from this software without
; specific prior written permission.
;
;
; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Expand All @@ -42,9 +42,9 @@ DEF RSI_AxisCorr( )
; =============================================

; =============================================
;
;
; ROS INDUSTRIAL: KUKA RSI HW INTERFACE
; Realtime UDP data exchange with
; Realtime UDP data exchange with
; kuka_rsi_hw_interface
;
; =============================================
Expand All @@ -56,7 +56,7 @@ DECL INT CONTID ; ContainerID
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
Expand All @@ -68,8 +68,8 @@ DECL INT CONTID ; ContainerID
; Move to start position
PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}

; Create RSI Context
ret = RSI_CREATE("ros_rsi.rsi",CONTID,TRUE)
; Create RSI Context
ret = RSI_CREATE("ros_rsi",CONTID,TRUE)
IF (ret <> RSIOK) THEN
HALT
ENDIF
Expand All @@ -83,7 +83,7 @@ ENDIF
; Sensor guided movement
RSI_MOVECORR()

; Turn off RSI
; Turn off RSI
ret = RSI_OFF()
IF (ret <> RSIOK) THEN
HALT
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