Use Ned robot’s TCP server

Ned is permanently running a TCP Server which can interpret several requests. This server is built on top of the Python ROS Wrapper.

It offers a simple way for developers to create programs for robot and to control them via remote communication on a computer, on a mobile or any device with network facilities.

Programs can communicate through network TCP with the robots in any language available.

Connection

To access the server, you will have to use to robot’s IP adress and communicate via the port 40001.

Communication

Only one client can communicate with the server (reconnection effective but no multi-clients).

The server answers only after the command is done, so it can’t deal with multiple commands at the same time.

Packet convention

General format

For easier usage and debugging, the communication is based on JSON format.

Every package have this following shape: <json_packet_size>{<json_content>}<payload>.

The JSON packet size is an unsigned short coded on 2 bytes.

The JSON contains command’s name & params.

Payload contains heavy data like an image.

Request

Format - Request

As no function requests a payload in input, requests have the following.

Format: <json_packet_size>{'param_list': [<param_1>, <param_2>, ....], 'command': <command_str>}

Examples - Request

Calibrate auto: {'param_list': ['AUTO'], 'command': 'CALIBRATE'}

Move joints: {'param_list': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'command': 'MOVE_JOINTS'}

Answer

Format - Answer

Firstly, answers indicate to the user if its command has been well executed. This is indicated in the JSON by the parameter “status”.

A successful answer will have the format:

{'status': 'OK', 'list_ret_param': [<param_1>, <param_2>, ....], 'payload_size': <payload_size_int>, 'command': <command_str>}<payload_str>

An unsuccessful answer will have the format: {'status': 'KO', 'message': <message_str>}

Examples - Answer

Calibrate Auto: {'status': 'OK', 'list_ret_param': [], 'payload_size': 0, 'command': 'CALIBRATE'}

Get Pose: {'status': 'OK', 'list_ret_param': [0.2, 0.15, 0.35, 0.5, -0.6, 0.1], 'payload_size': 0, 'command': 'GET_POSE'}

Commands enum for TCP server

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.CommandEnum(value)

Enumeration of all commands used

CALIBRATE = 0

SET_LEARNING_MODE = 1

GET_LEARNING_MODE = 2

SET_ARM_MAX_VELOCITY = 3

SET_JOG_CONTROL = 4

GET_COLLISION_DETECTED = 5

CLEAR_COLLISION_DETECTED = 6

HANDSHAKE = 7

GET_JOINTS = 10

GET_POSE = 11

GET_POSE_QUAT = 12

GET_POSE_V2 = 13

MOVE_JOINTS = 20

MOVE_POSE = 21

SHIFT_POSE = 22

MOVE_LINEAR_POSE = 23

SHIFT_LINEAR_POSE = 24

JOG_JOINTS = 25

JOG_POSE = 26

FORWARD_KINEMATICS = 27

INVERSE_KINEMATICS = 28

MOVE = 29

JOG = 30

FORWARD_KINEMATICS_V2 = 31

INVERSE_KINEMATICS_V2 = 32

GET_POSE_SAVED = 50

SAVE_POSE = 51

DELETE_POSE = 52

GET_SAVED_POSE_LIST = 53

PICK_FROM_POSE = 60

PLACE_FROM_POSE = 61

PICK_AND_PLACE = 62

PICK = 63

PLACE = 64

GET_TRAJECTORY_SAVED = 80

GET_SAVED_TRAJECTORY_LIST = 81

EXECUTE_REGISTERED_TRAJECTORY = 82

EXECUTE_TRAJECTORY_FROM_POSES = 83

EXECUTE_TRAJECTORY_FROM_POSES_AND_JOINTS = 84

SAVE_TRAJECTORY = 85

SAVE_LAST_LEARNED_TRAJECTORY = 86

UPDATE_TRAJECTORY_INFOS = 87

DELETE_TRAJECTORY = 88

CLEAN_TRAJECTORY_MEMORY = 89

EXECUTE_TRAJECTORY = 90

GET_SAVED_DYNAMIC_FRAME_LIST = 95

GET_SAVED_DYNAMIC_FRAME = 96

SAVE_DYNAMIC_FRAME_FROM_POSES = 97

SAVE_DYNAMIC_FRAME_FROM_POINTS = 98

EDIT_DYNAMIC_FRAME = 99

DELETE_DYNAMIC_FRAME = 100

MOVE_RELATIVE = 101

MOVE_LINEAR_RELATIVE = 102

UPDATE_TOOL = 120

OPEN_GRIPPER = 121

CLOSE_GRIPPER = 122

PULL_AIR_VACUUM_PUMP = 123

PUSH_AIR_VACUUM_PUMP = 124

SETUP_ELECTROMAGNET = 125

ACTIVATE_ELECTROMAGNET = 126

DEACTIVATE_ELECTROMAGNET = 127

GET_CURRENT_TOOL_ID = 128

GRASP_WITH_TOOL = 129

RELEASE_WITH_TOOL = 130

ENABLE_TCP = 140

SET_TCP = 141

RESET_TCP = 142

TOOL_REBOOT = 145

GET_TCP = 146

SET_PIN_MODE = 150

DIGITAL_WRITE = 151

DIGITAL_READ = 152

GET_DIGITAL_IO_STATE = 153

GET_HARDWARE_STATUS = 154

ANALOG_WRITE = 155

ANALOG_READ = 156

GET_ANALOG_IO_STATE = 157

CUSTOM_BUTTON_STATE = 158

SET_CONVEYOR = 180

UNSET_CONVEYOR = 181

CONTROL_CONVEYOR = 182

GET_CONNECTED_CONVEYORS_ID = 183

GET_CONVEYORS_FEEDBACK = 184

GET_IMAGE_COMPRESSED = 200

GET_TARGET_POSE_FROM_REL = 201

GET_TARGET_POSE_FROM_CAM = 202

VISION_PICK = 203

MOVE_TO_OBJECT = 205

DETECT_OBJECT = 204

GET_CAMERA_INTRINSICS = 210

SAVE_WORKSPACE_FROM_POSES = 220

SAVE_WORKSPACE_FROM_POINTS = 221

DELETE_WORKSPACE = 222

GET_WORKSPACE_RATIO = 223

GET_WORKSPACE_LIST = 224

SET_IMAGE_BRIGHTNESS = 230

SET_IMAGE_CONTRAST = 231

SET_IMAGE_SATURATION = 232

GET_IMAGE_PARAMETERS = 235

PLAY_SOUND = 240

SET_VOLUME = 241

STOP_SOUND = 242

DELETE_SOUND = 243

IMPORT_SOUND = 244

GET_SOUNDS = 245

GET_SOUND_DURATION = 246

SAY = 247

LED_RING_SOLID = 250

LED_RING_TURN_OFF = 251

LED_RING_FLASH = 252

LED_RING_ALTERNATE = 253

LED_RING_CHASE = 254

LED_RING_WIPE = 255

LED_RING_RAINBOW = 256

LED_RING_RAINBOW_CYCLE = 257

LED_RING_RAINBOW_CHASE = 258

LED_RING_GO_UP = 259

LED_RING_GO_UP_DOWN = 260

LED_RING_BREATH = 261

LED_RING_SNAKE = 262

LED_RING_CUSTOM = 263

LED_RING_SET_LED = 264