Difference between revisions of "Apps for the Robot Control"
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| − | ' | + | The app interface (since [[IgusRobotControl-Release14-EN|iRC/CPRog V14]]) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration. |
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| − | + | The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps. See section Minimal App below. | |
| − | |||
| − | ==Vision App | + | Please note that the app interface still is quite new and does not provide all features like [[CRI Ethernet Interface|CRI]] or [[Modbus Server|Modbus]]. We will extend it in near future. |
| + | |||
| + | = Installing Apps = | ||
| + | Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" -> "Configure Interfaces" -> "Apps" -> "Install" and select the ZIP package. | ||
| + | |||
| + | Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems. | ||
| + | |||
| + | = Minimal App examples and source code = | ||
| + | As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog. | ||
| + | |||
| + | Download the source code and find the documentation [https://github.com/CommonplaceRobotics/RobotControlApps on GitHub]. | ||
| + | The interface will be extended with new functions in future. | ||
| + | |||
| + | = Socket App = | ||
| + | The Socket App extends the robot control with a network interface for receiving and sending text-based messages. | ||
| + | |||
| + | Features: | ||
| + | * TCP client | ||
| + | * TCP server | ||
| + | * UDP | ||
| + | * Parse text-based messages for numbers, access these numbers in the robot program | ||
| + | * Send text-based messages with optional numbers from program variables | ||
| + | |||
| + | Use Cases: | ||
| + | * Receiving position values from object recognition cameras or other data sources | ||
| + | * Synchronizing values between robots | ||
| + | * etc... | ||
| + | |||
| + | Downloads: | ||
| + | * [https://wiki.cpr-robots.com/images/5/53/Socket_App_User_Guide.pdf Documentation] | ||
| + | * [https://wiki.cpr-robots.com/images/6/64/Socket_App_V1.0.1.zip Socket App package] | ||
| + | |||
| + | = Vision App = | ||
''Only available for embedded control, not in simulation mode.'' | ''Only available for embedded control, not in simulation mode.'' | ||
| − | The Vision App is created for 2D Object Detection. The app uses a standard USB camera which can be connected to your robot. | + | The Vision App is created for 2D Object Detection. The app uses a standard USB camera which can be connected to your robot. [https://wiki.cpr-robots.com/images/8/88/VisionApp_Examples_EN.pdf This] |
| + | document describes what the Vision App can be used for and what objects can be detected. | ||
Download calibration sheet: [https://wiki.cpr-robots.com/images/c/c3/CalibrationSheetV3.pdf CalibrationSheetV3.pdf] | Download calibration sheet: [https://wiki.cpr-robots.com/images/c/c3/CalibrationSheetV3.pdf CalibrationSheetV3.pdf] | ||
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Download user manual: [https://wiki.cpr-robots.com/images/c/cd/VisionApp_Manual_EN.pdf UserManual_VisionApp_EN.pdf] | Download user manual: [https://wiki.cpr-robots.com/images/c/cd/VisionApp_Manual_EN.pdf UserManual_VisionApp_EN.pdf] | ||
| − | Download .zip for robot: [https://wiki.cpr-robots.com/images/ | + | Download .zip for robot: [https://wiki.cpr-robots.com/images/2/22/Vision2d_V8.zip Vision2D.zip] |
| − | + | Download STL of measuring tips: [https://wiki.cpr-robots.com/images/6/6f/Messspitzen.zip Delta_and_Rebel.STL] | |
| − | + | What has changed: [https://wiki.cpr-robots.com/images/f/fb/ChangeLogVisionApp01.txt ChangeLog] | |
| − | |||
| − | |||
| − | |||
| − | + | There are three Video Tutorials how to use the Vision App: | |
| + | * Calibration: [https://youtu.be/fpbPiadYieQ?feature=shared English] / [https://www.youtube.com/watch?v=RV6W3cHTwMs German] | ||
| + | * Settings for Object Detection: [https://youtu.be/Nw9391sffrk?feature=shared English] / [https://www.youtube.com/watch?v=L-CbLLiDD8E German] | ||
| + | * Progamming: [https://youtu.be/llvEa73kQYw?feature=shared English] / [https://www.youtube.com/watch?v=CjtXqH9r4zI German] | ||
| + | The .xml File of the example programm you can download [https://wiki.cpr-robots.com/images/1/11/Tutorial.zip here] | ||
| − | + | In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle. | |
| − | |||
Latest revision as of 14:39, 7 November 2024
The app interface (since iRC/CPRog V14) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration.
The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps. See section Minimal App below.
Please note that the app interface still is quite new and does not provide all features like CRI or Modbus. We will extend it in near future.
Installing Apps
Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" -> "Configure Interfaces" -> "Apps" -> "Install" and select the ZIP package.
Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.
Minimal App examples and source code
As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog.
Download the source code and find the documentation on GitHub. The interface will be extended with new functions in future.
Socket App
The Socket App extends the robot control with a network interface for receiving and sending text-based messages.
Features:
- TCP client
- TCP server
- UDP
- Parse text-based messages for numbers, access these numbers in the robot program
- Send text-based messages with optional numbers from program variables
Use Cases:
- Receiving position values from object recognition cameras or other data sources
- Synchronizing values between robots
- etc...
Downloads:
Vision App
Only available for embedded control, not in simulation mode.
The Vision App is created for 2D Object Detection. The app uses a standard USB camera which can be connected to your robot. This document describes what the Vision App can be used for and what objects can be detected.
Download calibration sheet: CalibrationSheetV3.pdf
Download user manual: UserManual_VisionApp_EN.pdf
Download .zip for robot: Vision2D.zip
Download STL of measuring tips: Delta_and_Rebel.STL
What has changed: ChangeLog
There are three Video Tutorials how to use the Vision App:
- Calibration: English / German
- Settings for Object Detection: English / German
- Progamming: English / German
The .xml File of the example programm you can download here
In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle.
