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bcap_service package from denso_robot_ros2 repo

bcap_core bcap_service bcap_service_interfaces denso_robot_bringup denso_robot_control denso_robot_core denso_robot_core_interfaces denso_robot_description_installer denso_robot_descriptions denso_robot_moveit_config denso_robot_moveit_demo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/densorobot/denso_robot_ros2.git
VCS Type git
VCS Version humble
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The bcap_service package includes a node for communicating ORiN from ROS.

Additional Links

No additional links.

Maintainers

  • DENSO WAVE INCORPORATED

Authors

  • DENSO WAVE INCORPORATED
bcap_service/README.md

b-CAP Command Interface Control

The b-CAP command interface allows to control DENSO robots by sending “high-level” commands to the robot controller. Considering robot motion, only the final target point is sent to the DENSO robot controller. Motion planning and trajectory generation are internally managed by the DENSO controller (the final robot trajectory is not exposed to ROS2 nodes). Compared to the ORiN2 command interface, the b-CAP command interface exposes basic functions and methods to the ROS2 nodes.

Please refer to the ORiN2 Programming Manual for details about the available robot commands and their parameters:

Usage

The main launch file that starts the application is in the bcap_service package.

  • COBOTTA robot:
   ros2 launch bcap_service bcap_service.launch.py model:=cobotta ip_address:=192.168.0.1
  • NOT COBOTTA robot (e.g. VS-060 robot):
   ros2 launch bcap_service bcap_service.launch.py model:=vs060 ip_address:=192.168.0.1

Launch File Details

The main launch file that starts the application is in the bcap_service package:

   ros2 launch bcap_service bcap_service.launch.py model:=<robot_model> ip_address:=<robot_ip_address>

The arguments for launch files can be listed using:

   ros2 launch bcap_service bcap_service.launch.py --show-args

The most relevant arguments are the following:

  • robot_ip (mandatory) - IP address of the robot
  • conn_type (default: tcp) - type of connection protocol to be used (tcp/udp)
  • port_number (default: 5007) - number of the port that will be used for connection
  • wait_time (default: 0) - time to wait before connecting to the robot controller [s]
  • model (default: "”) - the model of the DENSO robot (COBOTTA, VS-060, etc.). In the original DENSO ROS2 stack 2 robot models are already available ( “cobotta” , “vs060”)

PLEASE NOTE THAT THE model PARAMETER WILL ALSO SET A NAMESPACE FOR THE bcap_service NODE AND ASSOCIATED TOPICS AND SERVICES !!

Commands Examples

NOTE: following example commands assume that the bcap_service node was launched with model parameter not set (default value: "”) !! When setting e.g. model:=cobotta, the name of the topics and services will change from e.g. /bcap_service to /cobotta/bcap_service

Run the following commands in a new Terminal

  • Establish connection with the controller, and get the Controller Object Handle:
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 3, vnt_args: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }'

Output will be (please note the returned controller handle in the response field, “value=`2`“):

   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=3, vnt_args=[bcap_service_interfaces.msg.Variant(vt=8, value='b-CAP'), bcap_service_interfaces.msg.Variant(vt=8, value='CaoProv.DENSO.VRC'), bcap_service_interfaces.msg.Variant(vt=8, value='localhost'), bcap_service_interfaces.msg.Variant(vt=8, value='')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=19, value='2'))
  • Get the list of Robot Objects from the controller (please use the value of the controller handle returned by the previous command, “{vt: 19, value: '2'}”):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 13, vnt_args: [{vt: 19, value: '2'}, {vt: 8, value: ''}] }'

Output will be (please note the returned robot identifier in the response field, “value=`Arm0`“):

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=13, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='2'), bcap_service_interfaces.msg.Variant(vt=8, value='None')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=8200, value='Arm0'))
  • Get the Robot Object Handle (please use the values of the controller handle, “{vt: 19, value: '2'}” , and of the robot identifier, “{vt: 8, value: 'Arm0'}” , returned by the previous commands):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 7, vnt_args: [{vt: 19, value: '2'}, {vt: 8, value: 'Arm0'}, {vt: 8, value: ''}] }'

Output will be (please note the returned robot handle in the response field, “value=`16`“):

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=7, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='15'), bcap_service_interfaces.msg.Variant(vt=8, value='Arm0'), bcap_service_interfaces.msg.Variant(vt=8, value='None')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=19, value='16'))
  • Call service request for b-CAP command, e.g. “TakeArm” command (please use the value of the robot handle returned by the previous command, “{vt: 19, value: '16'}”):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 64, vnt_args: [{vt: 19, value: '16'}, {vt: 8, value: 'TakeArm'}, {vt: 8195, value: "0,0"}] }'

Output will be:

   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=64, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='16'), bcap_service_interfaces.msg.Variant(vt=8, value='TakeArm'), bcap_service_interfaces.msg.Variant(vt=8195, value='0,0')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=0, value=''))
  • Call service request for b-CAP command, e.g. “Motor” ON command (please use the value of the robot handle returned by the previous command, “{vt: 19, value: '16'}”):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 64, vnt_args: [{vt: 19, value: '16'}, {vt: 8, value: 'Motor'}, {vt: 8195, value: "1,0"}] }'

Output will be:

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=64, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='16'), bcap_service_interfaces.msg.Variant(vt=8, value='Motor'), bcap_service_interfaces.msg.Variant(vt=8195, value='1,0')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=0, value=''))
  • Call service request for b-CAP command, e.g. “Move” command to position stored in controller’s variable P[1] (please use the value of the robot handle returned by the previous command, “{vt: 19, value: '16'}”):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 72, vnt_args: [{vt: 19, value: '16'}, {vt: 3, value: '1'}, {vt: 8, value: "P1"}, {vt: 8, value: 'SPEED=10'}] }'

Output will be (please note that the robot will move!!):

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=72, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='16'), bcap_service_interfaces.msg.Variant(vt=3, value='1'), bcap_service_interfaces.msg.Variant(vt=8, value='P1'), bcap_service_interfaces.msg.Variant(vt=8, value='SPEED=10')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=0, value=''))

  • Call service request for b-CAP command, e.g. “HandMoveA” command (please use the value of the controller handle returned by the previous command, “{vt: 19, value: '2'}”):

    NOTE: this command is only available for COBOTTA robot models !!

   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 17, vnt_args: [{vt: 19, value: '2'}, {vt: 8, value: "HandMoveA"}, {vt: 8195, value: "30, 100"}] }'

Output will be (please note that the robot will move!!):

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=17, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='2'), bcap_service_interfaces.msg.Variant(vt=8, value='HandMoveA'), bcap_service_interfaces.msg.Variant(vt=8195, value='30, 100')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=0, value=''))
  • Call service request for b-CAP command, e.g. “Motor” OFF command (please use the value of the robot handle returned by the previous command, “{vt: 19, value: '16'}”):
   ros2 service call /bcap_service bcap_service_interfaces/srv/Bcap '{func_id: 64, vnt_args: [{vt: 19, value: '16'}, {vt: 8, value: 'Motor'}, {vt: 8195, value: "0,0"}] }'

Output will be:

   waiting for service to become available...
   requester: making request: bcap_service_interfaces.srv.Bcap_Request(func_id=64, vnt_args=[bcap_service_interfaces.msg.Variant(vt=19, value='16'), bcap_service_interfaces.msg.Variant(vt=8, value='Motor'), bcap_service_interfaces.msg.Variant(vt=8195, value='0,0')])

   response:
   bcap_service_interfaces.srv.Bcap_Response(hresult=0, vnt_ret=bcap_service_interfaces.msg.Variant(vt=0, value=''))
CHANGELOG

Changelog for package bcap_service

1.2.0 (2024-03-18)

  • Avoid Boost C++ Libaries

1.1.1 (2024-02-09)

  • Fix links of RC8/RC9 Provider User's Guide in README.md

1.1.0 (2023-03-24)

Initial release

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bcap_service at Robotics Stack Exchange

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bcap_service package from denso_robot_ros repo

bcap_core bcap_service bcap_service_test denso_robot_bringup denso_robot_control denso_robot_core denso_robot_core_test denso_robot_descriptions denso_robot_gazebo denso_robot_moveit_config denso_robot_ros

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 3.0.2
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/DENSORobot/denso_robot_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-12-24
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The bcap service package includes a node for communicating ORiN from ROS.

Additional Links

Maintainers

  • DENSO WAVE INCORPORATED

Authors

  • DENSO WAVE INCORPORATED
README
No README found. See repository README.
CHANGELOG

Changelog for package bcap_service

3.0.2 (2017-12-15)

  • Remove new line from ROS_INFO,ROS_WARN,ROS_ERROR
  • Change descriptions and add url, author
  • Check the catkin_lint result
  • Contributors: MIYAKOSHI Yoshihiro

Forthcoming

  • update version to 3.0.0
  • first commit
  • Contributors: MIYAKOSHI Yoshihiro

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged bcap_service at Robotics Stack Exchange

No version for distro hydro. Known supported distros are highlighted in the buttons above.

bcap_service package from denso_robot_ros repo

bcap_core bcap_service bcap_service_test denso_robot_bringup denso_robot_control denso_robot_core denso_robot_core_test denso_robot_descriptions denso_robot_gazebo denso_robot_moveit_config denso_robot_ros

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 3.0.4
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/DENSORobot/denso_robot_ros.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-12-24
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The bcap service package includes a node for communicating ORiN from ROS.

Additional Links

Maintainers

  • DENSO WAVE INCORPORATED

Authors

  • DENSO WAVE INCORPORATED
README
No README found. See repository README.
CHANGELOG

Changelog for package bcap_service

3.0.4 (2019-11-27)

3.0.3 (2019-09-23)

  • Merge pull request #11

3.0.2 (2017-12-15)

  • Remove new line from ROS_INFO,ROS_WARN,ROS_ERROR
  • Change descriptions and add url, author
  • Check the catkin_lint result
  • Contributors: MIYAKOSHI Yoshihiro

Forthcoming

  • update version to 3.0.0
  • first commit
  • Contributors: MIYAKOSHI Yoshihiro

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
bcap_core
message_generation
roscpp
std_msgs
catkin
message_runtime

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bcap_service_test
denso_robot_control
denso_robot_core
denso_robot_ros

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged bcap_service at Robotics Stack Exchange

bcap_service package from denso_robot_ros repo

bcap_core bcap_service bcap_service_test denso_robot_bringup denso_robot_control denso_robot_core denso_robot_core_test denso_robot_descriptions denso_robot_gazebo denso_robot_moveit_config denso_robot_ros

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 3.2.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/DENSORobot/denso_robot_ros.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-06-03
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The bcap service package includes a node for communicating ORiN from ROS.

Additional Links

Maintainers

  • DENSO WAVE INCORPORATED

Authors

  • DENSO WAVE INCORPORATED
README
No README found. See repository README.
CHANGELOG

Changelog for package bcap_service

3.2.0 (2021-06-02)

3.1.2 (2021-04-02)

3.1.1 (2021-03-03)

3.1.0 (2020-12-23)

3.0.4 (2019-11-27)

3.0.3 (2019-09-23)

  • Merge pull request #11

3.0.2 (2017-12-15)

  • Remove new line from ROS_INFO,ROS_WARN,ROS_ERROR
  • Change descriptions and add url, author
  • Check the catkin_lint result
  • Contributors: MIYAKOSHI Yoshihiro

Forthcoming

  • update version to 3.0.0
  • first commit
  • Contributors: MIYAKOSHI Yoshihiro

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
bcap_core
message_generation
roscpp
std_msgs
catkin
message_runtime

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bcap_service_test
denso_robot_control
denso_robot_core
denso_robot_ros

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged bcap_service at Robotics Stack Exchange