Newer
Older
Main controller of the Robo Quality project. This should controll all the services via the clients of the sumodules.
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Also all common conversions from ROS2 interfaces to Python and Disk are included.
# Example Workflow
In this example all service nodes are started as `echo´s` (dummies). The workflow class connects to the standard services and calls them. The main idea is to replaces the service calls with "real" implemenataions / functionalities but keep the client calls for the workflow the same to keep testing and integrating easy independet of the systems.
## Start Service nodes
Start the service nodes in a first console.
```powershell
C:\dev\ros2_humble\setup.ps1
C:\dev\rq_workflow\install\setup.ps1
ros2 launch C:\dev\rq_workflow\launch\echo_launch.py
```
## Run script
The following script can be found [here](https://mygit.th-deg.de/roboct/robo_quality/rq_controller/-/blob/main/rq_controller/rq_workflow.py?ref_type=heads#L80). Source ROS 2 in a second console:
```powershell
C:\dev\ros2_humble\setup.ps1
C:\dev\rq_workflow\install\setup.ps1
ros2 launch C:\dev\rq_workflow\launch\echo_launch.py
```
Run script / file from the second console:
```python
# Initialize workflow
from rq_controller.rq_workflow import WorkflowNode
workflow = WorkflowNode()
# Aquire some scout views
projection_list = list()
for i in range(5):
print(f' - At projection {i}')
scan_pose = PyProjection.dummy()
scan_pose.focal_spot_mm += i
projection_list.append(workflow.aquire_projection(scan_pose))
# Detect errors in scout views
roi = workflow.defect_detection(projection_list)
# Init traj opt
workflow.trajectory_initialize(roi)
# Get next scan pose from traj opt
next_scan_pose, finished = workflow.trajectory_update(projection_list[-1])
# Aquire scan pose
projection_list.append(workflow.aquire_projection(next_scan_pose))
# Resconstruct projections
volume = workflow.get_volume(projection_list, roi[0])
```