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flynneva / grbl_ros

ROS2 node for interfacing with a GRBL device
https://flynneva.github.io/grbl_ros/
MIT License
17 stars 11 forks source link

How to change the pose? #107

Closed apanagar closed 2 years ago

apanagar commented 3 years ago

I was looking at this package, looks really interesting. I saw the following code at device.py:153 but can't find moveTo defined anywhere or poseCallback being used. using the send functionality to send gcode looks simple enough, but is that the intended way to move/change the position of the machine using this project?

    def poseCallback(self, request, response):
        self.machine.moveTo(request.position.x,
                            request.position.y,
                            request.position.z,
                            blockUntilComplete=True)
        return response

Thanks, awesome work!

github-actions[bot] commented 3 years ago

Thank you for creating your first issue on this repo! Give me some time to review and respond to your problem.

flynneva commented 3 years ago

hey @apanagar! good find! it looks like i mustve wrote that function without ever really implementing it. ill look into this over the weekend and see what I can come up with.

flynneva commented 3 years ago

@apanagar so yeah I think when I first started writing this i had the idea of having a callback method where you could pass in an easy "X Y Z" coordinate and the machine would go there. I quickly realized it would just be easier to handle that in the sendGcode function since it really does the same thing....so i think i gave up on that poseCallback. probably should do some spring cleaning it looks like :)

flynneva commented 3 years ago

again, I wrote this mostly for fun and to learn ROS2 multithreading actions. i havent used my grbl cnc in quite some time, but maybe this weekend I should pick this one up again and see what is missing.

apanagar commented 3 years ago

No problem, I'm just using grbl to control a different type of gantry style robot and found your code. I need to integrate grbl with Ros to interface with other subsystems and your code has been super helpful! Thanks for the quick reply!

flynneva commented 3 years ago

@apanagar did you end up solving your problem? I am about to start some work on this package again and wanted to check in and see if there are still any open bugs

apanagar commented 3 years ago

I did solve the problem, but my solution was much more crude because I was just getting a prototype to work. Your code was helpful though! 👍