added gui images and updated documentation

README.md

@@ -27,14 +27,17 @@ This ROS package and associated GUI make use of the 6-axis force/torque sensor o
 ## Usage
 
 ### Bringup the robot
-1. _(Teach Pendant)_ Turn on the robot, get into _manual_ mode, then load the "EXTERNAL_CONTROL.urp" program.
+1. _(Teach Pendant)_ Turn on the robot, and get into _manual_ mode.
 2. _(Teach Pendant)_ Start the robot (tap the small red dot on the bottom left corner)
 
 ### Start Armstron
 1. _(Host Computer)_ Choose "Armstron" from your application menu (Super + A).
     - This starts communication with the robot arm, starts the Armstron test server, and starts the Armstron GUI.
-b. _(Teach Pendant)_ Run the "EXTERNAL_CONTROL.urp" program.
-2. Use the GUI to load/build test profiles, set data save locations, and run tests.
+2. Use the GUI to load/build test profiles, set data save locations.
+3. Run tests
+    1. _(Teach Pendant)_ Move the arm around manually to set things up.
+    2. _(Teach Pendant)_ Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar) 
+    3. _(Host Computer)_ Run a test using the "Run Test" button.
 
 
 ## Advanced Usage
@@ -45,20 +48,22 @@ Since everything is modular, you can run each part of the Armstron software stac
 1. _(Teach Pendant)_ Turn on the robot, get into _manual_ mode, then load the "EXTERNAL_CONTROL.urp" program.
 2. _(Teach Pendant)_ Start the robot (tap the small red dot on the bottom left corner)
 3. _(Host Computer)_ (new terminal): `roslaunch ur_user_calibration bringup_armando.launch`
-4. _(Teach Pendant)_ Run the "EXTERNAL_CONTROL.urp" program.
 
 ### Use the Armstron test server
-1. Start the test server (new terminal): `roslaunch armstron bringup_testing.launch`
-2. Start a test (new terminal):
+1.  _(Host Computer)_ Start the test server (new terminal): `roslaunch armstron bringup_testing.launch`
+2. Setup the robot
+    1. _(Teach Pendant)_ Move the arm around manually to set things up.
+    2. _(Teach Pendant)_ Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar) 
+3.  _(Host Computer)_ Start a test (new terminal):
 
 ```bash
     roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/armstron_data/testing_launch.csv"
     roslaunch armstron run_test.launch config:="ceti_force_hold.yaml" save:="~/armstron_data/testing_launch.csv"
 ```
 
 ### Start the GUI
-1. Start the test server (new terminal): `roslaunch armstron bringup_testing.launch`
-2. Start the Armstron GUI (new terminal): `rosrun armstron gui.py`
+1.  _(Host Computer)_ Start the test server (new terminal): `roslaunch armstron bringup_testing.launch`
+2.  _(Host Computer)_ Start the Armstron GUI (new terminal): `rosrun armstron gui.py`
 
 
 ### Useful commands for debugging

armstron/config/rqt_multiplot.xml

@@ -11,13 +11,13 @@
                     <axes>
                         <axes>
                             <x_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>Time (s)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </x_axis>
                             <y_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>EE Position (m)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </y_axis>
                         </axes>
@@ -187,13 +187,13 @@
                     <axes>
                         <axes>
                             <x_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>Time (s)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </x_axis>
                             <y_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>EE Orientation (rad)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </y_axis>
                         </axes>
@@ -365,13 +365,13 @@
                     <axes>
                         <axes>
                             <x_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>Time (s)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </x_axis>
                             <y_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>EE Force (N)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </y_axis>
                         </axes>
@@ -541,13 +541,13 @@
                     <axes>
                         <axes>
                             <x_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>Time (s)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </x_axis>
                             <y_axis>
-                                <custom_title>Untitled Axis</custom_title>
-                                <title_type>0</title_type>
+                                <custom_title>EE Torque (Nm)</custom_title>
+                                <title_type>1</title_type>
                                 <title_visible>true</title_visible>
                             </y_axis>
                         </axes>

armstron/config/test_profiles/simple_pull_test.yaml

@@ -0,0 +1,13 @@
+params:
+  preload:
+  - {balance: pose}
+  - jog:
+      angular: [0.0, 0.0, 0.0]
+      linear: [0.0, 0.0, -0.003]
+    stop_conditions: {min_force_z: -60.0}
+  test:
+  - jog:
+      angular: [0.0, 0.0, 0.0]
+      linear: [0.0, 0.0, 0.001]
+    stop_conditions: {max_position_z: 0.02}
+type: sequence

armstron/src/armstron/gui/profile_editor.py

@@ -441,17 +441,17 @@ def _make_add_button(self, parent, key):
             font=('Arial', 10, 'bold'), bd=2,
             fg = self.colors['default'][0])
 
-        add_balance = tk.Button(fr_group,
+        add_balance = ttk.Button(fr_group,
                 text="Balance",
                 command = lambda key=key, : self._add_step(key, 'balance'),
                 state = 'normal',)
 
-        add_pose = tk.Button(fr_group,
+        add_pose = ttk.Button(fr_group,
                 text="Pose",
                 command = lambda key=key, : self._add_step(key, 'pose'),
                 state = 'normal')
 
-        add_jog = tk.Button(fr_group,
+        add_jog = ttk.Button(fr_group,
                 text="Jog",
                 command = lambda key=key, : self._add_step(key, 'jog'),
                 state = 'normal')

docs/examples/gui_test.rst

@@ -1,4 +1,4 @@
-.. _gui:
+.. _gui_test:
 
 .. |up|   unicode:: U+25B2 .. UP
 .. |dn|   unicode:: U+25BC .. DOWN
@@ -29,25 +29,42 @@ _______
 
 2. Start Armstron
     a. *(Host Computer)* Choose “Armstron” from your application menu (Super + A).
-    b. *(Teach Pendant)* Run the "EXTERNAL_CONTROL.urp" program.
 
+Now the Armstron GUI and a live graph will open:
+
+.. image:: ../img/gui_start.png
+
+.. image:: ../img/gui_graph.png
 
 Build a Test Profile
-___________________
+____________________
 
 1. Click the "Load" button and choose an existing profile
-2. Use the |up| or |dn| buttons to move a step up or down
+2. Use the |up| and |dn| buttons to move a step up or down
 3. Use the |x| button to remove a step
-4. Add a step to with the "add step" buttons.
+4. Add a step with the "add step" buttons.
 
+.. image:: ../img/gui_simple_test.png
 
 Run a Test
 __________
 
-1. Choose where to save data.
-2. Run a test using the "Run Test" button.
-3. Abort a test using the "STOP" button. *Note: Data is saved continuously during tests, so your data is safe even if a test gets aborted.*
-
+1. *(Teach Pendant)* Move the arm around manually to set things up.
+2. *(Teach Pendant)* Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar)
+3. *(Host Computer)* Choose where to save data with the "Set File" button.
+4. *(Host Computer)* Run a test using the "Run Test" button.
+5. *(Host Computer)* Abort a test using the "STOP" button. *Note: Data is saved continuously during tests, so your data is safe even if a test gets aborted.*
 
 .. note::
-    Pictures of the GUI in action are coming soon!
+
+    Savefile names are auto-incremented to prevent overwriting of data, so you only need to set the filename once.
+
+.. important::
+
+    **Don't forget to run the "EXTERNAL_CONTROL.urp" program** before running tests! It's easy to forget, so let this note serve as a reminder.
+
+
+Happy Testing!
+______________
+
+This is all you really need to know to use the Armstron. If you are interested in doing more-advanced things, keep reading in :ref:`Manual Testing <manual_test>` section

docs/examples/manual_test.rst

@@ -1,4 +1,4 @@
-.. _first_test:
+.. _manual_test:
 
 ===================
 Run a Test Manually
@@ -106,24 +106,31 @@ Testing Procedure
 
     a. *(Teach Pendant)* Turn on the robot, get into _manual_ mode, then load the "EXTERNAL_CONTROL.urp" program.
     b. *(Host Computer)* In a new terminal: ``roslaunch ur_user_calibration bringup_armando.launch``
-    c. *(Teach Pendant)* Run the "EXTERNAL_CONTROL.urp" program.
 
 2. Start the Armstron test server (this waits for tests to be started, and handles balancing and estop commands)
 
     a. In a new terminal, start the test server: ``roslaunch armstron bringup_testing.launch``
 
 
-3. Start a test (for example, *ceti_pull_test.yaml*), and save data in the Documents folder (*~/Documents/vinst_data/test.csv*)
-
-    a. In a new terminal, run:
+3. Start a test (for example, *ceti_pull_test.yaml*), and save data in the Documents folder (*~/Documents/armstron_data/test.csv*)
+
+    a. *(Teach Pendant)* Move the arm around manually to set things up.
+    b. *(Teach Pendant)* Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar) 
+    c. *(Host Computer)* In a new terminal, run:
 
 .. code-block:: bash
 
-    roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/Documents/vinst_data/test.csv"
+    roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/Documents/armstron_data/test.csv"
+
 
 .. note::
 
-    If you want to run more tests, just keep repeating step 3. Savefile names are auto-incremented to prevent overwriting of data, so you can keep sending the same filename (and thus the same terminal command) over and over to keep repeating the same test procedure.
+    Savefile names are auto-incremented to prevent overwriting of data, so you can keep sending the same filename (and thus the same terminal command) over and over to keep repeating the same test procedure
+
+.. important::
+
+    **Don't forget to run the "EXTERNAL_CONTROL.urp" program** before running tests! It's easy to forget, so let this note serve as a reminder.
+
 
 
 More Details