migrated run single script to use the test interface

README.md

@@ -3,10 +3,13 @@ This ROS package and associated GUI make use of the 6-axis force/torque sensor o
 
 
 ## Installation
-1. Clone this package to the `src` folder of your catkin workspace
-2. In the root folder of your workspace, install dependencies:
+1. Set up your robot arm for use with the [Universal_Robots_ROS_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver).
+    - Clone the package to the **src** folder of your catkin workspace
+    - Follow instructions in the [ur_robot_driver/doc](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master/ur_robot_driver/doc) folder. to set up the URCap on the robot
+2. Clone this package (armstron) to the **src** folder of your catkin workspace
+3. In the root folder of your workspace, install dependencies:
     - `rosdep install --from-paths src --ignore-src -r -y`
-3. Navigate to the armstron package folder and install a few extra non-ROS python requirements:
+4. Navigate to the armstron package folder and install a few extra non-ROS python requirements:
     - `cd src/armstron/armstron`
     - `pip install -r requirements.txt`
 5. Navigate back to the workspace folder, and build your workspace (`catkin_make`)
@@ -22,6 +25,7 @@ This ROS package and associated GUI make use of the 6-axis force/torque sensor o
 ### Use the Armstron test server
 1. Start the test server: `roslaunch armstron bringup_testing.launch`
 2. Start a test by publishing a goal message to the `/armstron/goal` topic
+
 ```bash
     roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/vinst_data/testing_launch.csv"
     roslaunch armstron run_test.launch config:="ceti_force_hold.yaml" save:="~/vinst_data/testing_launch.csv"
@@ -30,6 +34,7 @@ This ROS package and associated GUI make use of the 6-axis force/torque sensor o
 ### Start the GUI
 1. Start the test server: `roslaunch armstron bringup_testing.launch`
 2. Start the Armstron GUI:
+
 ```bash
     rosrun armstron gui.py
 ```

armstron/config/test_profiles/ceti_force_hold.yaml

@@ -1,4 +1,3 @@
-
 type: 'sequence'
 params:
   preload:

armstron/config/test_profiles/ceti_pull_test.yaml

@@ -1,4 +1,3 @@
-
 type: 'sequence'
 params:
   preload:

armstron/config/test_profiles/ceti_pull_test_diag.yaml

@@ -1,4 +1,3 @@
-
 type: 'sequence'
 params:
   preload:

armstron/launch/bringup_testing.launch

@@ -11,4 +11,13 @@
 		<param name="debug" type="bool" value="$(arg debug)"/>
 		<param name="action_name" type="str" value="$(arg action_name)" />
     </node>
+
+
+	<!-- Start the plotting interface -->
+	<node name="armstron_plot"
+			pkg="rqt_multiplot"
+			type="rqt_multiplot"
+			respawn="false"
+			args="--force-discover --multiplot-config $(find armstron)/config/rqt_multiplot.xml --multiplot-run-all" />
+
 </launch>

armstron/scripts/run_single_test.py

@@ -1,165 +1,32 @@
 #!/usr/bin/env python
-import time
-#import roslib; roslib.load_manifest('ur_driver')
 import rospy
 import rospkg
-import actionlib
-import yaml
-import json
-import ast
 import os
-import sys
-import copy
 
-import armstron.msg as msg
-from armstron.srv import Balance, Estop
+from armstron.test_interface import TestRunner
 
-filepath_config = os.path.join(rospkg.RosPack().get_path('armstron'), 'config')
-
-class TestRunner():
-    '''
-    A ROS Action server to run single tests.
-
-    Parameters
-    ----------
-    name : str
-        Name of the Action Server
-    '''
-
-    def __init__(self, name):
-
-        self.DEBUG = rospy.get_param(rospy.get_name()+"/DEBUG",False)
-        self._action_name = rospy.get_param(rospy.get_name()+"/action_name",name)
-        self.config_file = rospy.get_param(rospy.get_name()+"/config_file",None)
-        self.save_file = rospy.get_param(rospy.get_name()+"/save_file",None)
-        self.config_path = os.path.join(filepath_config,'test_profiles')
-        self.config = self._get_config(os.path.join(self.config_path, self.config_file))
-
-        # Make an action client
-        self._test_client = actionlib.SimpleActionClient(self._action_name, msg.RunTestAction)
-        self._test_client.wait_for_server()
-
-        # Make a service proxy for the estop service
-
-
-    def _get_config(self, filename):
-        '''
-        Load a testing profile (config)
-
-        Parameters
-        ----------
-        filename : str or Path
-            Filename to load config from
-
-        Returns
-        -------
-        config : dict
-            The test config
-        '''
-        with open(filename, 'r') as f:
-            config=yaml.safe_load(f)
-        return config
-
-
-    def run_test(self):
-        '''
-        Run a test and wait for the result
-
-        Returns
-        -------
-        result : ActionResult
-            The result of the test.
-        '''
-        # Balance at start
-        balance = self.config['balance'].lower()
-        if balance!="":
-            if 'pose' in balance:
-                self.balance('pose')
-            if 'ft' in balance:
-                self.balance('ft')
-
-        # Build the goal message to send
-        goal = msg.RunTestGoal()
-        goal.command = self.config['type']
-        goal.params = json.dumps(self.config['params'])
-        goal.filename = self.save_file
-
-        # Tell the test server to run the test.
-        self._test_client.send_goal(goal)
-
-        # Wait for the server to finish performing the test.
-        self._test_client.wait_for_result()
-
-        # Return the result
-        return self._test_client.get_result() 
-
-
-    def estop(self):
-        '''
-        Perform an Emergency Stop
-        '''
-        # Send estop service call
-        self._call_service(self._action_name+'/estop',Estop)
-
-
-    def balance(self, type):
-        '''
-        Balance either the load or F/T sensor
-
-        Parameters
-        ----------
-        type : str
-            The type of balance to perform. Must be either
-            ``pose`` or ``ft``
-        '''
-        # Send estop service call
-        self._call_service(self._action_name+'/balance',Balance, type = str(type))
-
-
-    def _call_service(self, name, service_type, **fargs):
-        '''
-        Call a service and handle the result
-
-        Parameters
-        ----------
-        name : str
-            Name of the service to call
-        service_type : ROS srv
-            ROS service class (must be correct for the service name you are calling)
-        **args : Any
-            Arguments to pass to the service
-
-        Returns
-        -------
-        response : ROS srv response
-            The response from the service. Returns ``None`` if the service
-            call was unsuccessful.
-        '''
-        rospy.wait_for_service(name)
-        try:
-            fun = rospy.ServiceProxy(name, service_type)
-            resp1 = fun(**fargs)
-            return resp1
-        except rospy.ServiceException as e:
-            print("Service call failed: %s"%e)
-            return None
-
-
-    def shutdown(self):
-        '''
-        Shut down the node gracefully
-        '''
-        pass
-
-
-
+filepath_config = os.path.join(rospkg.RosPack().get_path('armstron'), 'config')  
+
 if __name__ == '__main__':
     try:
         rospy.init_node('v_inst_test_runner', disable_signals=True)
         print("V_INST TEST RUNNER: Node Initiatilized (%s)"%(rospy.get_name()))
-        sender = TestRunner(rospy.get_name())
-        sender.run_test()
-        print("V_INST TEST RUNNER: Ready!")
+
+        debug = rospy.get_param(rospy.get_name()+"/DEBUG",False)
+        action_name = rospy.get_param(rospy.get_name()+"/action_name",None)
+        config_file = rospy.get_param(rospy.get_name()+"/config_file",None)
+        save_file = rospy.get_param(rospy.get_name()+"/save_file",None)
+
+        config_path = os.path.join(filepath_config,'test_profiles',config_file)
+
+        # Set settings
+        sender = TestRunner(action_name, debug=debug)
+        sender.load_profile(config_path)
+        sender.set_savefile(save_file)
+
+        print("V_INST TEST RUNNER: Running Test")
+        sender.run_test(wait_for_finish=True)
+        print("V_INST TEST RUNNER: Finished!")
         sender.shutdown()
 
     except KeyboardInterrupt:

armstron/src/armstron/test_interface.py

@@ -12,6 +12,7 @@
 import copy
 
 import armstron.msg as msg
+from armstron.utils import load_yaml
 from armstron.srv import Balance, Estop
 
 class TestRunner():
@@ -34,16 +35,39 @@ def __init__(self, name, debug=False):
         self._test_client.wait_for_server()
 
 
+    def load_profile(self, filename):
+        '''
+        Load the config profile from a file
+
+        Parameters
+        ----------
+        filename : str
+            Filename to load
+        '''
+        profile = load_yaml(filename)
+        self.set_profile(profile)
+
+
     def set_profile(self, profile):
         '''
         Set the config profile
+
+        Parameters
+        ----------
+        profile : dict
+            Testing profile to use
         '''
         self.config = profile
 
 
     def set_savefile(self, save_file):
         '''
         Set the filename to save
+
+        Parameters
+        ----------
+        save_file : str
+            Filename to save data to
         '''
         self.save_file = save_file
 

docs/description.rst

@@ -24,13 +24,7 @@ The Armstron package allows you to  This ROS package and associated GUI make use
 
 Install
 =======
-1. Clone this package to the `src` folder of your catkin workspace
-2. In the root folder of your workspace, install dependencies:
-   - ``rosdep install --from-paths src --ignore-src -r -y``
-3. Navigate to the armstron package folder and install a few extra non-ROS python requirements:
-   - ``cd src/armstron/armstron``
-   - ``pip install -r requirements.txt``
-5. Navigate back to the workspace folder, and build your workspace (``catkin_make``)
+Follow instructions in the :ref:`Quickstart Guide <quickstart>`.