cristhian
eede2e5774
It now runs joy, teleop and dora-ulite6 with the probe declared and the console shut, so a pad can be checked against the arm that will actually move. ROBOT_IP in both arm dataflows points at the bench arm. The run recipe drops dora up + dora start: dora 1.0.1 refuses to start a dataflow holding git: nodes from a coordinator, reporting that no build was run straight after one that succeeded. That costs the file dora topic, which needs a coordinator to read the wire.
112 lines
3.9 KiB
YAML
112 lines
3.9 KiB
YAML
# Joystick control of a real arm. Three nodes, no bench and no browser.
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#
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# This is the one that moves a robot. `dataflow.yml` and `dataflow-gamepad.yml`
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# drive a stand-in; this one drives `dora-ulite6`, so everything the pad does
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# here happens in the room. Read `The gamepad` in README.md before picking it up
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# — Back is the E-STOP.
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#
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# Both sibling nodes are pulled by `git:`, so this runs from a fresh clone with
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# no other checkouts. It needs the network on its first build, and an arm.
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#
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# source .venv/bin/activate
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# dora build dataflow-robot.yml
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# dora run dataflow-robot.yml
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#
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# Not `--uv`: dora 1.0.1 installs a `git:` node into a venv inside its own clone and
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# then looks for its entrypoint in this dataflow's venv instead. README.md has the
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# detail. `dataflow.yml` has no `git:` nodes and is fine with --uv.
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#
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# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
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# 192.168.1.162, with a vacuum tool.
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#
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# The web console comes with the node: it serves the page and holds the
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# browsers' sockets itself, so `http://<this machine>:7000` is a second way to
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# drive the same arm, with the same lease deciding who gets it. Set WEB_PORT to
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# 0 below for a pad-only run that opens no port at all.
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strict_types: true
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# Lets `dora topic echo` read what is on the wire — the velocities going to the
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# arm, above all. Run under `dora start` rather than `dora run` to use it.
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debug:
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enable_debug_inspection: true
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nodes:
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- id: joy
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git: https://gitea.liria.cl/liria/dora-joy.git
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tag: v0.1.1
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build: pip install .
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path: dora-joy
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inputs:
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tick: dora/timer/millis/20
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outputs:
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- joy
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- id: teleop
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path: dora-teleop
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build: pip install .
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inputs:
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tick: dora/timer/millis/50
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# queue_size 1: joy ticks at 20 ms and this node at 50, so without it the
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# loop would work through a backlog of readings that have already been
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# overtaken. An arm should be driven by the newest one or by none.
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joy:
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source: joy/joy
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queue_size: 1
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queue_policy: drop_oldest
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response: ulite6/response
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motion_state: ulite6/motion_state
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robot_state: ulite6/robot_state
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tcp_pose: ulite6/tcp_pose
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joint_pose: ulite6/joint_pose
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outputs:
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- twist
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- command
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- jog
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- request
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- ui_state
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env:
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SPEED_MM_S: "60"
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SPEED_DEG_S: "30"
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# Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
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# VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
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# inside it, and a backstop that fires first backs up nothing.
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JOY_TTL_S: "0.2"
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JOG_TTL_S: "0.4"
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# The console, on this machine. It is bound to every interface because
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# the operator is rarely sitting at the box wired to the arm.
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WEB_HOST: "0.0.0.0"
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WEB_PORT: "7000"
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- id: ulite6
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git: https://gitea.liria.cl/liria/dora-ulite6.git
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tag: v0.3.1
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build: pip install .
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path: dora-ulite6
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inputs:
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tick: dora/timer/millis/100
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request: teleop/request
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jog: teleop/jog
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outputs:
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- response
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- motion_state
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- joint_pose
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- tcp_pose
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- robot_state
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# dora type-checks before it fetches a `git:` source, so it cannot read the
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# arm's own manifest from here. These three repeat what `dora-ulite6`
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# v0.3.1 annotates; `response` and `motion_state` stay untyped there and so
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# stay untyped here. Re-check them when moving to a new tag.
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output_types:
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joint_pose: std/core/v1/Float32
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tcp_pose: std/core/v1/Float32
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robot_state: std/core/v1/String
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env:
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ROBOT_IP: "192.168.1.162"
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TOOL_TYPE: "vacuum"
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# The outermost deadman, enforced by the controller whether or not any of
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# this is alive. Every timer above must stay below it.
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VELOCITY_COMMAND_TTL_S: "0.5"
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# The pad does not home. Nothing moves until somebody pushes a stick.
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INIT_MODE: "none"
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