Ronoco-vm API - Summarized documentation
The table below lists all the endpoints of ronoco-vm and their different possible behaviour
| URL | Method | Body | Return Code | Return | Description |
|---|---|---|---|---|---|
| / | GET | 200 | {"Success": "Server is running"} | ||
| /shutdown | GET | Shutdown flask server | |||
| /connect | GET | 200 | {"Success": "Connected with commander " + move_group} | Connexion with commander etablished | |
| /connect | GET | 404 | {"Error": "Can't connect to commander please retry with connect button"} | Connexion with commander not etablished | |
| /free/ | GET | 200 | {'compliant': 'True'} | Robot is compliant | |
| /free/ | GET | 200 | {'compliant': 'False'} | Robot is not compliant | |
| /free/ | POST | {'compliant': 'True'} | 200 | {'compliant': 'True'} | Robot has been set compliant |
| /free/ | POST | {'compliant': 'False'} | 200 | {'compliant': 'False'} | Robot has been set not compliant |
| /free/ | POST | None or incorrect | 400 | Bad Request | |
| /free/ | POST | {'compliant' : 'Bool'} | 404 | Not Found | Robot is not alive |
| /point/add/simulation | POST | {} | 408 | {"Error": "Rviz doesn't send response"} | Rviz is not alive or very slow |
| /point/add/simulation | POST | {} | 200 | {"Success" : "Add cartesian point with id: int"} | A point has been recorded |
| /point/add/actual | POST | {} | 408 | {"Error": "MoveIt doesn't send response"} | MoveIt is not alive or very slow |
| /point/add/actual | POST | {} | 200 | {"Success" : "Add cartesian point with id: int"} | A point has been recorded |
| /point/get | GET | 404 | {"Error": "No point have been recorded"} | ros parameters server (on the name "cartesianPoints") is empty | |
| /point/get | GET | 200 | A json with all cartesian points | ||
| /point/get/id | GET | 404 | {"Error": "No point have been recorded"} | ros parameters server (on the name "cartesianPoints") doesn't contain point with this id | |
| /point/get/id | GET | 200 | A json with one point | ||
| /point/delete | POST | {} | 200 | {"Success": "All points have been deleted"} | All points have been cleared or database was empty |
| /point/delete/id | POST | {} | 404 | {"Error": "No point match with id: int" | ros parameters server (on the name "cartesianPoints") doesn't contain point with this id |
| /point/delete/id | POST | {} | 200 | {"Success": "Point have been deleted"} | Point has been deleted |
| /control/ | POST | an export of nodered tree | 200 | {"Success": "All behavior trees has been executed"} | |
| /control/ | POST | None | 400 | {"Error": "json is empty"} | Can't evaluate an empty file |
| /control/ | POST | an export of nodered tree | 400 | {"Error": "json contains 0 valid roots"} | Json is not empty but doesn't contain root block |
| /control/ | POST | an export of nodered tree | 400 | {"Error": "Tree with root id | Json contains a root block but associate tree is incorrect |
| /control/ | POST | an export of nodered tree | 400 | {"Error": "Block (or child of this block) with id | Json contains tree but one block is incorrect |
| /control/stop | GET | 200 | {"Success": "Behavior tree has been stopped "} | Current behavior tree is stopped | |
| /teleop/force-stop | POST | {} | 200 | "Success" | Robot stop |
| /teleop/forward | POST | {} | 200 | "Success" | Robot go forward |
| /teleop/backward | POST | {} | 200 | "Success" | Robot go backward |
| /teleop/left | POST | {} | 200 | "Success" | Robot go left |
| /teleop/right | POST | {} | 200 | "Success" | Robot go right |
Tests
To launch test you need to launch rolling robot or a manipulator arm with one of these exemple commands :
# for manipulator arm
roslaunch ur3_moveit_config demo.launch config:=true
# for rolling robot
roslaunch turtlebot3_gazebo turtlebot3_house.launch
# in another terminal
roslaunch turtlebot3_navigation turtlebot3_navigation.launch
Then launch ronoco
# for manipulator arm
roslaunch ronoco manipulator.launch commander:=manipulator compliant_mode:=manual
# for rolling robot
roslaunch ronoco rolling.launch mode:=rolling topic_move_base:=/move_base amcl_pose:=/amcl_pose cmd_vel:=/cmd_vel
Finally, launch test
cd $HOME/catkin_ws/src/ronoco/ronoco-vm
python3 tests/launcher.py