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Qualification Component Configuration

After passing qualification, components are configured as a right side component (or front-left for casters). After qualification, users can choose to configure components to the another part of the robot, to install parts on, say, the left side of a robot. To reconfigure components, technicians scan the components into the system, and are given a choice of how they want to reconfigure them. A note is added to the inventory system for every successful reconfiguration.

Writing Component Configuration Scripts

To write a configuration script, make a file in the qualification/configs folder (ex: my_conf.launch). The head_conf.launch file:

<launch>
  <include file="$(find qualification)/tests/init.machine" />
 
  <!-- Configure MCBs -->
  <node machine="test_host" pkg="qualification" type="mcb_prog_conf.py" args="-n 2 -c --motor=head_pan_motor,0 --motor=head_tilt_motor,1" />

  <!-- Confirm configuation -->
  <node pkg="qualification" type="confirm_conf.py" output="screen"/>
</launch>

Both nodes must run for configuration to work.

Motor names as Args

Add the motor names and numbers to the args of configure_mcbs.py. They must be added in the form

--motor=NAME,NUM

Replacing NAME and NUM with the motor name and number. The motors should be of the names listed in the actuators.conf file.

Adding Configuration Script to System

To add a component configuration launch file to the qualification system, edit the qualification/config/configs.xml file.

<config serial="1234567"
             file="my_conf.launch" descrip="My Configuration" />

The description field is important, the qualification system will store that description in the inventory system logging the reconfiguration.


2019-10-12 12:59