I am using kuka ros 8.3 and RSI 3.2
I am tryinig using a deep camera get the workpiece location, transform the location to robot coordinate system with the RSI object TRAFO_ROBFRAME.
RSI signal flow shown as in the image.
The problem is how to code the xml config file for RSI object TRAFO_ROBFRAME output link with ETHERNET object input. XML file shown as below
<ROOT>
<CONFIG>
<IP_NUMBER>172.31.1.100</IP_NUMBER> <!-- IP-number of the external socket -->
<PORT>49152</PORT> <!-- Port-number of the external socket -->
<SENTYPE>ImFree</SENTYPE> <!-- The name of your system send in <Sen Type="" > -->
<ONLYSEND>FALSE</ONLYSEND> <!-- TRUE means the client don't expect answers. Do not send anything to robot -->
</CONFIG>
<!-- RSI Data: TYPE= "BOOL", "STRING", "LONG", "DOUBLE" -->
<!-- INDX= "INTERNAL" switch on internal read values. Needed by DEF_... -->
<!-- INDX= "nmb" Input/Output index of RSI-Object / Maximum of RSI Channels: 64 -->
<!-- HOLDON="1", set this output index of RSI Object to the last value -->
<!-- DEF_Delay count the late packages and send it back to server -->
<!-- DEF_Tech: .T = advance .C = main run / .T1 advance set function generator 1 -->
<SEND>
<ELEMENTS>
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_RSol" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Tech.C1" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DiL" TYPE="LONG" INDX="1" />
<ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" />
<ELEMENT TAG="Digout.o2" TYPE="BOOL" INDX="3" />
<ELEMENT TAG="Digout.o3" TYPE="BOOL" INDX="4" />
<ELEMENT TAG="Source1" TYPE="DOUBLE" INDX="5" />
<ELEMENT TAG="DiL" TYPE="LONG" INDX="6" />
<ELEMENT TAG="DiL" TYPE="LONG" INDX="7" />
<ELEMENT TAG="DiL" TYPE="LONG" INDX="8" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
<ELEMENT TAG="DEF_EStr" TYPE="STRING" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Tech.T2" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
<ELEMENT TAG="AKorr.A1" TYPE="DOUBLE" INDX="1" HOLDON="1" />
<ELEMENT TAG="AKorr.A2" TYPE="DOUBLE" INDX="2" HOLDON="1" />
<ELEMENT TAG="AKorr.A3" TYPE="DOUBLE" INDX="3" HOLDON="1" />
<ELEMENT TAG="AKorr.A4" TYPE="DOUBLE" INDX="4" HOLDON="1" />
<ELEMENT TAG="AKorr.A5" TYPE="DOUBLE" INDX="5" HOLDON="1" />
<ELEMENT TAG="AKorr.A6" TYPE="DOUBLE" INDX="6" HOLDON="1" />
<ELEMENT TAG="FREE" TYPE="LONG" INDX="7" HOLDON="1" />
<ELEMENT TAG="DiO" TYPE="LONG" INDX="8" HOLDON="1" />
<ELEMENT TAG="X_dection" TYPE="LONG" INDX="9" HOLDON="1" />
<ELEMENT TAG="Y_dection" TYPE="LONG" INDX="10" HOLDON="1" />
<ELEMENT TAG="Z_dection" TYPE="LONG" INDX="11" HOLDON="1" />
</ELEMENTS>
</RECEIVE>
</ROOT>
For <TAG> option I do not know how to fill it?
