This repo contains a ros package, which handle the cgi interface for sequence Controller AST5, AST6, AST10, AST11, AST40 and for Base Station ComCenter 10.

ROS Melodic

Python3 package requests 2.18.4

$ git clone
$ catkin build

The ip address of screwdriver controller is configurable at deprag_cgi_interface/src/deprag_cgi_node.py. Further parameters can also be set there.

Firstly open a terminal windows and build your workspace:

$ catkin_make

Then change your current directory to the deprag_cgi source and register the python script:

$ roscd deprag_cgi/src

$ chmod +x deprag_cgi_node.py

Now run the deprag cgi script:

$ rosrun deprag_cgi deprag_cgi_node.py

To create a new program we first must call the deprag_create service, establishing basic program settings like its name, program number, etc.

$ rosservice call /deprag_create "{pgm_number: 32, head_title: 'Example', head_dir: 0, head_feed: 0, torque_unit: 0}"

The service will return an unique id that we must hold on to because it is needed to add further steps to the program and later pubish it.

id: 11

Now to add a loosen on extern step we call the deprag_loosen_on_extern service, making sure to set cid to the value returned by the deprag_create call.

$ rosservice call /deprag_loosen_on_extern "{cid: 11, max_time: 32, angle_min: 60, angle_max: 320, torque_min: 5.0, torque_max: 15.0, rpm: 30, create_val: 1}"

Again the id is returned.

id:11

If id happens to be a negative value an error occured, therefore any software using these services should check if id is smaler than zero. Each value smaler than zero coresponds to a line of code where the error occured, therfore a text search of deprag_cgi_node.py will yield this line.

To chain steps we simply call their services in order.

$ rosservice call /deprag_tighten_on_extern "{cid: 11, max_time: 36, angle_min: 20, angle_max: 630, torque_min: 5.0, torque_max: 15.0, rpm: 30, create_val: 1}"

Finaly to publish the program to the deprag device we call the deprag_publish service

$ rosservice call /deprag_publish "cid: 11"

The program is now avaliable on the deprag device and the id is invalid, do not use it anymore.

When an error occures while a service is called the service will return a negative id. To find the corresponding error and line of code simply conduct a text search in the deprag_cgi_node.py script.

Implemented according to the manual Operating manual: External Program Creation, 013777XX

Sponsored by the Ministry of the Environment Baden-Württemberg, in the context of the Strategic Dialogue Automotive Industry, and supervised by the Project Management Agency Karlsruhe (PTKA). Funding number: L7520101

https://www.ipa.fraunhofer.de/de/referenzprojekte/DeMoBat.html

For more information please feel free to contact:
M.Sc. Anwar Al Assadi
Wissenschaftlicher Mitarbeiter
Fraunhofer‐Institut für
Produktionstechnik und Automatisierung IPA
Abteilung Roboter- und Assistenzsysteme
Nobelstraße 12 │ 70569 Stuttgart
Telefon +49 711 970-1264
[email protected]