709_get_and_move_to_frames.py

import compas_rrc as rrc

if __name__ == "__main__":

    # Create Ros Client
    ros = rrc.RosClient()
    ros.run()

    # Create ABB Client
    abb = rrc.AbbClient(ros, "/rob1")
    print("Connected.")

    # Set tool
    abb.send(rrc.SetTool("tool0"))

    # Set work object
    abb.send(rrc.SetWorkObject("wobj0"))

    # Read current frame position
    frame = abb.send_and_wait(rrc.GetFrame())

    # Print received values
    print(repr(frame))

    # Change a X axis (in millimiters)
    frame.point[0] -= 50

    # Set speed [mm/s]
    speed = 100

    # Move robot the new pos
    done = abb.send_and_wait(
        rrc.MoveToFrame(frame, speed, rrc.Zone.FINE, rrc.Motion.LINEAR)
    )

    # Print feedback
    print("Feedback = ", done)

    # End of Code
    print("Finished")

    # Close client
    ros.close()