How it works?

[ryanpaulmckenna]

How it works?

[ViHin13]

Look at the file /onRobot/xml_rpc_on_robot/list_methods_response.xml.
There you find all xmlrpc commands for RG grippers.
Look at line 33 (in my file at least). Here you find the command rg_get_busy.
Now check the response and request variables:

1. go to /onRobot/xml_rpc_on_robot/
2. open the file xml_request_sys_method_help.xml and change the value to rg_get_busy.
   <value><string>rg_get_busy</string></value>
3. now navigate with your terminal to the folder /onRobot/xml_rpc_on_robot/
4. and use this command curl -X POST -d @xml_request_sys_method_help.xml 192.168.1.101:41414. Change 192.168.1.101 to your robot ip
5. i dont have a rg gripper. I show you the output for the 2fg7 gripper instead:

<?xml version="1.0" encoding="UTF-8"?>
<methodResponse>
<params>
<param><value><array><data>                 #ignore
<value><array><data>                      #ignore
<value><string>boolean</string></value>     #This is the response type (boolean) you get back with the value
<value><string>int</string></value>        #Now follows the request part. We have to send only one variable which should be int type 
</data></array></value>                 #ignore
</data></array></value></param>           #ignore
</params>
</methodResponse>

6. so now you know your request and response types. In the gripper.py you can just copy the get_rg_width() function.
7. change functionname between the tags

<methodCall>
    <methodName>rg_get_busy</methodName>
        <params>
            <param>
                <value><int>{self.rg_id}</int></value>
            </param>
        </params>
</methodCall>

8. change rg_width = float(xml_response[0][0]) to rg_busy = bool(xml_response[0][0])
9. call the function with your robot_ip and tool_id (usually 0)

[kimanton]

@ViHin13 Thank you for this explanation, I think now I know enough to implement corresponding methods