instruction_executor.rst

github_url:	https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/instruction_executor.rst

Instruction Executor example

This example shows how to use the :ref:`instruction_executor` class. It can be used for easily executing a sequence of instructions such as motions on the robot using the built-in URScript functions.

The instruction_executor.cpp shows how to use this class:

Note

For the instruciton executor to work there has to be an established connection to the :ref:`reverse_interface`. That means, the respective program has to be running on the robot. The example below will do that automatically, if the connected robot is in remote_control mode.

.. literalinclude:: ../../examples/instruction_executor.cpp
   :language: c++
   :caption: examples/instruction_executor.cpp
   :linenos:
   :lineno-match:
   :start-at: bool headless_mode = true;
   :end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->getUrDriver());

At first, a InstructionExecutor object is created with the URDriver object as it needs that for communication with the robot.

Currently, the InstructionExecutor can either be used to run sequences of motions or single motions.

Execute a sequence of motions

To run a sequence of motions, create an std::vector<std::shared_ptr<urcl::cointrol::MotionPrimitive>> and pass it to the executeMotion function:

.. literalinclude:: ../../examples/instruction_executor.cpp
   :language: c++
   :caption: examples/instruction_executor.cpp
   :linenos:
   :lineno-match:
   :start-at: // Trajectory definition
   :end-at: instruction_executor->executeMotion(motion_sequence);

Each element in the motion sequence can be a different motion type. In the example, there are two MoveJ motions, a MoveL motion, a MoveP motion, a OptimiveJ motion and a OptimoveL motion. The primitives' parameters are directly forwarded to the underlying script functions, so the parameter descriptions for them apply, as well. Particularly, you may want to choose between either a time-based execution or an acceleration / velocity parametrization for some move functions. The latter will be ignored if a time > 0 is given.

Please refer to the script manual for details.

Execute a single motion

To run a single motion, the InstructionExecutor provides the methods moveJ(...) and moveL(...):

.. literalinclude:: ../../examples/instruction_executor.cpp
   :language: c++
   :caption: examples/instruction_executor.cpp
   :linenos:
   :lineno-match:
   :start-at: double goal_time_sec = 2.0;
   :end-before: g_my_robot->getUrDriver()->stopControl();

Again, time parametrization has priority over acceleration / velocity parameters.