Cognex Robot Raconteur Driver for In-Sight Devices

This package contains a Robot Raconteur driver for Cognex In-Sight Vision Systems. It has been tested with an 7000 series device, but should work with other series as well. The driver works using the TCP/IP communication feature that can be configured using the In-Sight software. The sensor initiates a connection to the driver (reverse socket), and streams position information to the driver. The device must be configured to use the correct ASCII string format.

The driver implements the Robot Raconteur Standard Type com.robotraconteur.objectrecognition.ObjectRecognitionSensor

See the examples/ directory for example clients using the driver.

Connection Info

The default connection information is as follows. These details may be changed using --robotraconteur-* command line options when starting the service. Also see the Robot Raconteur Service Browser to detect services on the network.

URL: rr+tcp://localhost:59901/?service=cognex
Device Name: cognex_sensor
Node Name: cognex_Service
ServiceName: cognex
Root Object Type:
- com.robotraconteur.objectrecognition.ObjectRecognitionSensor
- edu.robotraconteur.cognexsensor.CognexSensor

Installation

python -m pip install git+https://github.com/robotraconteur-contrib/cognex_robotraconteur_driver.git

Use python3 on Linux if python is not aliased.

If using Conda, it is recommended to install the robotraconteur and robotraconteur_companion_python packages using conda install before using pip to avoid potential pip/conda conflicts.

Configure the Sensor

See docs/cognex_setup for instructions to configure the Cognex sensor.

Running the Driver

Start the driver:

cognex-robotraconteur-driver --sensor-info-file=config/generic_cognex_sensor_default_config.yml

Optionally start using a module if the entrypoint does not work:

python -m cognex_robotraconteur_driver --sensor-info-file=config/generic_cognex_sensor_default_config.yml

The Cognex will attempt to connect to the driver and stream data. The tools/socket_test.py can be used to view the raw data to make sure the sensor is communicating. Note the driver must be stopped before using tools/socket_test.py

Using the Service

See the examples directory for several examples using the driver. The following is a simple example that will connect to the driver and print out the detected features.

from RobotRaconteur.Client import *
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil

url = 'rr+tcp://localhost:59901/?service=cognex'

# Connect to the object recognition sensor service
c = RRN.ConnectService(url)

geom_util = GeometryUtil(RRN, c)

# Capture the currently recognized objects
recognized_objects = c.capture_recognized_objects()

# Print the recognized objects
for recognized_object in recognized_objects.recognized_objects:
    xyz, rpy = geom_util.pose_to_xyz_rpy(recognized_object.pose.pose.pose)
    print(f"object: {recognized_object.recognized_object.name} x: {xyz[0]:.3f}, y: {
            xyz[1]:.3f}, angle: {rpy[2]:.3f}, confidence: {recognized_object.confidence:.3f}")

License

Apache 2.0 Licensed by Rensselaer Polytechnic Institute and Wason Technology, LLC

Author: Honglu He and John Wason

Acknowledgment

This work was supported in part bythe Advanced Robotics for Manufacturing ("ARM") Institute under Agreement Number W911NF-17-3-0004 sponsored by the Office of the Secretary of Defense. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of either ARM or the Office of the Secretary of Defense of the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes, notwithstanding any copyright notation herein.

This work was supported in part by the New York State Empire State Development Division of Science, Technology and Innovation (NYSTAR) under contract C160142.

robotraconteur-contrib / cognex_robotraconteur_driver

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