If everything works well the robot moves to the fixed pose. xmlrpc_cameraĦ) Remove the “ and replace the IP-address in the "" string with the one from the Linux PC, for example: "129.168.1.10:50000". zip with: tar xf xmlrpc_cpp.zipģ) Start the executable with. Java xml rpc client install#To install on Ubuntu 14.04 type: sudo apt-get updateġ) Open a terminal and unpack the. Furthermore, its website also features a lot of useful examples and hints to make the C++ programming easier. can be used and is available in most standard Linux distributions by default. This example shows the same functionality as for Python. Note, the "Received pose" will be equal to the robot's Tool pose when it was started. The Python "camera" server will give an output that will be similar to:ġ27.0.0.1 - "POST / HTTP/1.1" 200. Java xml rpc client Pc#This example uses a Linux PC (for example Ubuntu 14.04).Ġ) Download the xmlrpc_camera.py and urlib.pyģ) Type in the following command and press enter: python xmlrpc_server.pyĤ) Now the server runs and can be contactedĥ) Download the xmlrpc_example.urp and transfer it to the robotĦ) Replace the IP-address in the "" string with the one from the Linux PC, for example: "".ħ) Press play to run the PolyScope program Server.register_function(get_next_pose, "get_next_pose") Server = SimpleXMLRPCServer(("", 50000), allow_none=True) Python 2.7 & 3 code, xmlrpc_camera.py(can be downloaded at the buttom of this page - XMLRPC.zip):įrom SimpleXMLRPCServer import SimpleXMLRPCServerįrom rver import SimpleXMLRPCServer The PolyScope program is in charge of moving the actual robot. The example Python "camera"-program receives a pose and sends a fixed pose back. It is recommended to use other ports than occupied ports and frequently used ports such as '8080' to avoid conflicts.When the program stops, the XML-RPC connection will be automatically cleaned up.Depending on the computing power & network speed the reaction time for the get_next_pose might vary. XML-RPC function calls are transfered to remote programs.When the “camera” is not used it causes no overhead. It is important that connections to the remote program are built-up in the BeforeStart sequence, since it takes a relatively long time to build up the connection compared to performing the function call.When the get_next_pose returns with a pose, the MoveJ moves the robot to the next_pose. During the execution of the g et_next_pose function the PolyScope program waits. The UR controller will automatically make all of the necessary conversions to communicate over XML-RPC with the remote program (including conversion of the pose). The get_next_pose is implemented by the remote program and requires in this example one pose as an input argument. In the Robot Program body we ask for the next pose by calling the function get_next_pose on the camera, with the current Tool pose as an argument. In the BeforeStart sequence we make the connection to the external program and give it the name “camera”. PolyScope-program xmlrpc_example.urp (can be downloaded from buttom of this page): Java xml rpc client manual#Please also consult the UR script manual for more information on the XML-RPC. The remote “camera” program, providing the next target pose, is exemplified in both Python and C++. In here we provide a simple example where we want to make the robot move using a pose retrieved from a fake remote camera. it handles all the details of translating between UR types and XML on the wire.įor many programming languages free XML-RPC servers are available, among others for: Python, Java, C++ and C. The UR controller handles writing the XML-RPC client messages, i.e. With it, the UR controller can call methods/functions (with parameters) on a remote program/server and get back structured data. XML-RPC is a Remote Procedure Call method that uses XML to transfer data between programs over sockets. Java xml rpc client software#Examples valid from software v3.1 and forward.
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