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AcutronicRobotics / HRIM

An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0
https://acutronicrobotics.com/technology/hrim/
Apache License 2.0
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How to generate the MARA HRIM interface? #25

Open ricardotellez opened 5 years ago

ricardotellez commented 5 years ago

Hi, I have downloaded the MARA simulation and HRIM generated packages for messages.

I can see that in the generated directory, there are all the message packages required to make MARA run using the HRIM interface (generic, geometry, gripper, rotaryservo). However, if I have correctly understood, those packages have been generated by compiling the XML files that define the MARA interfaces, using the command: python3 hrim.py generate <some_xml_file>

Where can I get those XML files? They will be very useful for me in order to better understand how to create my own.

vmayoral commented 5 years ago

Hello @ricardotellez, you can find most of the models at https://github.com/erlerobot/HRIM/tree/master/models. Is that what you're looking for?

There're only models yet and contributions are super welcome. Our team would be delighted to get your input!

ricardotellez commented 5 years ago

Thanks @vmayoral So if I have correctly understood, the generated packages for MARA are using the models defined in the https://github.com/erlerobot/HRIM/tree/master/models directory. Is that correct?

So in order to get the _hrim_actuator_rotaryservomsgs package of MARA, you just used the model of the servo defined in the servo.xml file and compiled it with:

python3 hrim.py generate models/actuator/servo/servo.xml

Is that correct?