This solution might also apply to other similar products or applications. Why does it not connect to the Driver Station? Solution Make sure you have the latest Update Suite installed. Make sure there are no other roboRIOs connected to the computer. Check you can ping the roboRIO using this connection command line: ping Latest commit. Fix test move python3 Git stats 1, commits. Failed to load latest commit information.
View code. Can this driver be used inside a combined hardware interface? I sent raw script code to the robot but it is not executed Using the dashboard doesn't work Passthrough controllers: The robot does not fully reach trajectory points even though I have specified the path tolerance to be 0 Can I use the Cartesian controllers together with MoveIt!?
Developed in collaboration between: and. How to report an issue Before creating an issue, please have a look at the Troubleshooting section of this document.
Factory calibration of the robot inside ROS to reach Cartesian targets precisely. Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the e-Series.
See the Real-time setup guide on how to achieve this Transparent integration of the teach-pendant. With this, the robot can be paused , stopped and resumed without restarting the ROS driver. This will in the future also enable the usage of ROS-components as part of a more complex UR-program on the teach pendant.
ROS-control of the robot can be quit using a service call to continue program execution on the TP. Use the robot's speed-scaling. When speed scaling is active due to safety constraints or the speed slider is used, this gets correctly handled on the ROS side, as well slowing down trajectory execution accordingly. Also, the pausing function can only be used if the default scaled trajectory controller is used. ROS-Service-based replacement of most every-day TP-interactions offer using UR robots without interacting with the teach pendant at all, if desired.
The robot can be started, stopped and even recovery from safety events can be done using ROS service- and action calls. Use on-the-robot interpolation for both Cartesian and joint-based trajectories. This is extremely helpful if your application can not meet the real-time requirements of the driver. Special types of passthrough controllers forward the trajectories directly to the robot, which then takes care of interpolation between the waypoints to achieve best performance.
This can be helpful when the robot is in a state where it won't accept commands sent from ROS. Requirements This driver requires a system setup with ROS. The first two test cases have specific names.
The other six test cases will generate names based on template test cases name with the replacement of variables in this name. However the text based readers for csv, excel and so do support different types as well. It also support python literal evaluations. The Prefix only defines the value typ. It can also be used to assign a scalar to a dictionary key. If a variable is defined that was i.
The arguments here are comma , separated. Lists can be created with the prefix as comma , separated list. DataDriver can evaluate Literals. It uses the prefix e for that. This could be helpfull in Test Setup or in Suite Setup. A list as suite variable containing a robot dictionary for each test case that is selected for execution. A dictionary as suite variable that contains the same data as the list, with the test names as keys. A dictionary as test variable that contains the test data of the current test case.
This dictionary does also contain arguments that are not used in the Test Template keyword. This can be used in Test Setup and within a test case. By default DataDriver reads csv files. If you want to use Excel based data sources, you may just set the file to the extention or you may point to the correct file.
By default it is set to 0 which will be the first table sheet. You may use sheet index 0 is first sheet or sheet name case sensitive. XLS interpreter will ignore all other options like encoding, delimiters etc. Microsoft Excel xls or xlsx file have the possibility to type thair data cells. Numbers are typically of the type float.
If these data are not explicitly defined as text in Excel, pandas will read it as the type that is has in excel. This may cause unwanted behavior. To mitigate this risk you should define Excel based files explicitly as text within Excel.
Alternatively you may deactivate that string conversion. In that case, you will get str, float, boolean, int, datetime. Pict is able to generate data files based on a model file.
If the file option is set to a file with the extention pict, DataDriver will hand over this file to pict. This file will the be used as data source for the test generation. It is tab seperated and UTF-8 encoded Except the file option all other options of the library will be ignored.
This module implements a reader class that creates a test case for each file or folder that matches the given glob pattern.
See folder example. Therefore it is possible to define your own dialect or use predefined. The default is Excel-EU which is a semicolon separated file. These Settings are changeable as options of the Data Driver Library. These Characters are available in cp which are not present in Latin See Python Standard Encoding for more encodings.
You may change the CSV Dialect here. User may define the format completely free. If an option is not set, the default values are used. To register a userdefined format user have to set the option dialect to UserDefined. DataReader classes are loaded dynamically into DataDriver while runtime. You can either place the custom reader with the others in DataDriver folder or anywhere on the disk. Viewed 47k times. Now, I set path variable path : D Improve this question. Add a comment. Active Oldest Votes.
You need chromeDriver not Chrome. Start by downloading the chrome driver. Now you need to set the environment variable to point the chrome driver. From outside the test Just set the environment variable webdriver. Improve this answer. Uri Shtand Uri Shtand 1, 9 9 silver badges 14 14 bronze badges.
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