A gRPC service implemenation for controlling UFACTORY xArm series using the xArm-CPLUS-SDK.
The dependencies are added as subomodules, so when cloning this repository, do:
$ git clone [email protected]:Interactions-HSG/xarm-grpc.git --recursive
This project implements the following:
xarm-grpc-service
: The gRPC service responsible for the Modbus/TCP connection management and packet generation (i.e.,xArmAPI
object) providing thexArmAPI
as a service.xarm-commander
: A gRPC client implemented as a C++ CLI Tool to run commands on xArms. For further information about thexarm-commander
go to section Tools.
The proto file is defined in proto/xapi.proto
based on xarm_api.h
.
The following services are specific to the connection management:
Initialize
: instantiate axArmAPI
object and connect the server to a xArm specified by the-x
option.Disconnect
: close the connection to the xArm.
To use the xarm-grpc-service
first install the xArm-PLUS-SDK library:
$ make -C libs/xArm-CPLUS-SDK xarm
Follow the gRPC's Quick start guide to install cmake, gRPC, and Protocol Buffers.
The rest of this document assumes you have installed gRPC and Protocol Buffers in ~/.local
.
$ mkdir -p cmake/build && cd cmake/build
$ cmake -DCMAKE_PREFIX_PATH=~/.local ../..
$ make -j
The gRPC service can be started using following command:
$ xarm-grpc-service start
Then use a gRPC client (e.g., xarm-commander
) to send commands to the xArm.
To close the gRPC service run:
$ xarm-grpc-service stop
For further description about usage of the xarm-grpc-service
, use -h
or --help
.
The Tools directory includes available clients for the xarm-grpc-service. Currently, the following clients are implemented:
xarm-commander
: A gRPC client implemented as a C++ CLI Tool to run commands on xArms. For further instructions on how to use thexarm-commander
see here.
See CONTRIBUTING.md
.
- Iori Mizutani (@iomz)
See here
See LICENSE
.