start.lua

require "rttlib"
require "rttros"


----------------------
-- get the deployer --
tc=rtt.getTC()
if tc:getName() == "lua" then
  depl=tc:getPeer("Deployer")
elseif tc:getName() == "Deployer" then
  depl=tc
end


rtt.setLogLevel("Warning")

--[ get convenience objects ]--
gs = gs or rtt.provides()
--tc = tc or rtt.getTC()
--depl = depl or tc:getPeer("Deployer")

--[ required imports ]--
depl:import("rtt_ros")

ros = gs:provides("ros")


ros:import("URDriver")

--rtt.setLogLevel("Info")

depl:loadComponent("URDriverRT_receiver", "URDriverRT_receiver")
URDriverRT_receiver=depl:getPeer("URDriverRT_receiver")
depl:loadComponent("URDriver_receiver", "URDriver_receiver")
URDriver_receiver=depl:getPeer("URDriver_receiver")
depl:loadComponent("URDriver_program", "URDriver_program")
URDriver_program=depl:getPeer("URDriver_program")

--URDriverRT_receiver:setPeriod(0.008)

--URDriver_receiver:setPeriod(0.1)

URDriver_program:setPeriod(0.008)

--[[
--for real robot
URDriver_program:getProperty("robot_address"):set("192.168.1.102")
URDriver_program:getProperty("my_address"):set("192.168.1.101")
URDriverRT_receiver:getProperty("robot_address"):set("192.168.1.102")
]]--
-- for ur sim on the same robot
URDriver_program:getProperty("robot_address"):set("127.0.0.1")
URDriver_program:getProperty("my_address"):set("127.0.0.1")
URDriverRT_receiver:getProperty("robot_address"):set("127.0.0.1")
--for version 1.8
URDriverRT_receiver:getProperty("version_interface"):set("Pre-3.0")


if not URDriverRT_receiver:configure() then
  print("failed to conf URDriverRT_receiver")
end


--[[
if not URDriver_receiver:configure() then
  print("failed to conf URDriver_receiver")
end
]]--
if not URDriverRT_receiver:start()then
  print("failed to start")
end

if not URDriver_program:configure() then
  print("failed to conf URDriver_program")
end

  print(">> send-program")
if not URDriver_program:send_program()then
  print("failed to send-program")
end
  print(">> open-server")
if not URDriver_program:open_server()then
  print("failed to open-server")
end
if not URDriver_program:start()then
  print("failed to start URDriver_program")
end
--[[
in ops
cd URDriver_program
var array q(6)
q[1]=-1.57
send_joint_objective (q,10)


in lua

qport = rttlib.port_clone_conn(URDriverRT_receiver:getPort("q_actual_outport"))
=qport:read()
 q=rtt.Variable("array")
 q:fromtab({0,-1.57,0,1.57,-1.57,0})
 URDriver_program:send_joint_objective(q,10)
]]--


--[[test velocity

 URDriver_program:start_send_velocity()
 qdd=rtt.Variable("array")

 qqdport = rttlib.port_clone_conn(URDriver_program:getPort("qdes_inport"))
qdd:fromtab({0.01,0.01,0.01,0.01,0.01,0.01})
 qqdport:write(qdd)
]]