System Structure - alexsleat/GPC_IRB-120 GitHub Wiki
Control PC:
ROSCORE Central hub, all ROS nodes are passed in and out of this.
rosclient The client is designed to be sent a string, which contains the commands for the arm. This is split in to 3 strings of 70 characters or less (80 characters is the limit for the RAPID socket server). It will receive confirmation of the sent strings. It also waits to receive any returned data from a command (e.g when asking for the XYZ position of the arms end effector) this data is then published in to the corresponding std_msgs to the ROSCORE "cloud".
controlloop The control loop is essentially the main() function of the program, here we will issue the rosclient commands to be sent to the arm and request data from the arm.
TACTIP The tactip node will continuously spurt out data of its current readings, which will be published in to the ROSCORE "cloud".
TACTIP Visualiser This visualiser is designed to plot the current reading of the TACTIP (from the published msg) at the arms current XYZ position.