edo_ui_python

This is a python script which serves as a bare replacement for EDO Android app.

This work is reverse engineering of a source that used to be on comau github page. Some ideas were also borrowed from this project.

Running the code

• Before you can run the script, python package get-key needs to be installed. One of the easiest ways is through pip.
• eDO_core_msgs needs to compiled in local ROS environment.
• Export ROS environments.
• Export ROS_IP and ROS_MASTER_URI according to your system.
• Run python setup_edo.py

Usability

• This script can set up the robot to a run mode when it boots up. After every turn on, robot's joints need calibrating procedure, since EDO has no breaks and the last three joints have no breaks.
• Script can send a robot to home pose (vertical pose). When this execution is started, it is not possible to pouse robot movement.
• It supports jogging in joint and cartesian space.
• Short repetitions of movement in joint space is supported.
• If emergency button is pressed, the script can power back the motors.

Problems

• Rotations around the cartesian axis for jogging are not named correctly. Comau has some non-standard naming of angles. Also, rotations jogging is very slow and limited.
• Robot can be stuck in mode 3 (MOVE), the script can not handle this situation. Using an app is advised in this case.
• get-key works in blocking mode and together with "try and see" data from a robot, script can be stuck in some loop