ARCOR2 ARServer
Project description
arcor2_arserver
Environment variables
ARCOR2_ARSERVER_PORT=6789
- by default, the service will listen on port 6789.ARCOR2_STREAMING_PERIOD=0.1
- controls the period of streaming a robot's EEF poses and joints.
Caching
ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0
- by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.ARCOR2_ARSERVER_CACHE_SCENES=32
- by default, ARServer keeps 32 last used scenes in its cache.ARCOR2_ARSERVER_CACHE_PROJECTS=64
- by default, ARServer keeps 64 last used projects in its cache.ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32
- by default, ARServer keeps 64 last used ObjectTypes in its cache.
Resources locking
ARCOR2_ARSERVER_LOCK_TIMEOUT=300
- if a user do not log again within this timeout (in seconds), their locks are discarded.- Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
ARCOR2_ARSERVER_LOCK_RETRIES=13
- number of retries when trying to acquire the global lock.ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15
- controls how long to wait between attempts to get the global lock.
Debugging
ARCOR2_MAX_RPC_DURATION=0.1
- by default, a warning is emitted when any RPC call takes longer than 0.1 second.ARCOR2_ARSERVER_DEBUG=1
- switches logger to theDEBUG
level.ARCOR2_ARSERVER_ASYNCIO_DEBUG=1
- turns onasyncio
debug output (helpful to debug problems related to concurrency).ARCOR2_REST_DEBUG=1
- may be used to debug problems related to communication with the Project, Scene Build and Calibration services.
Changelog
The format is based on Keep a Changelog,
[1.3.0] - 2024-09-12
Changed
- Dependency on
arcor2~=1.5.0
.
[1.2.0] - 2024-04-11
Changed
- Updated dependencies, switched to Python 3.11.
WriteLock
RPC now does not return an error when a user tries to write-lock something already locked (by the same user).
[1.1.1] - 2024-01-23
Fixed
InverseKinematics
andForwardKinematics
RPCs were always returningObject not found
error.
[1.1.0] - 2023-07-20
Changed
- Compatibility with arcor2 1.1.0 (object pose must now be updated with
obj.set_pose(pose)
).
[1.0.0] - 2023-02-14
Changed
- Dependency on arcor2 1.0.0.
- Compatibility with the newest version of the Project service.
- ARServer now also talks to Asset service (checks whether mesh/URDF exists).
[0.27.0] - 2022-12-12
Changed
- Dependency on
arcor2~=0.26.0
.
[0.26.0] - 2022-10-28
Changed
- Switched to Python 3.10, updated dependencies.
[0.25.0] - 2022-08-17
Changed
- Adaptation to changes in API of the Build service.
- Updated scene client (changed API).
[0.24.0] - 2022-04-25
Added
- New RPCs
GetScene
andGetProject
.
[0.23.0] - 2022-01-25
Changed
- Breaking change of WebSockets API (
ActionStateBefore
event). - Switched to Python 3.9, updated dependencies.
[0.22.1] - 2021-10-26
Changed
- Added HTTP upload server for logs from AREditor
- Logs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)
[0.22.0] - 2021-10-25
Changed
- When getting pose/joints from a robot fails, continue trying instead of giving up.
- Handle
KinematicsException
to deliver a more precise error message. - Updating object models.
- New RPC
UpdateObjectModel
. - Ability to lock individual ObjectTypes.
- Various improvements regarding locking.
- New RPC
- Proper handling of scene/project problems.
- Any problem makes scene/project invalid, and then it can't be opened.
- Scene/project problems are now checked when:
- Scene/project is listed.
- Opening a scene/project is requested.
- Found problems are cached for better performance.
- ObjectTypes are checked for changes during each listing of scenes/projects.
- Deleting ObjectTypes reworked.
DeleteObjectType
replaced withDeleteObjectTypes
.- The new RPC takes list of ObjectType IDs.
- Empty list means all ObjectTypes.
- It returns list of id/error for types that could not be removed.
- This is especially useful for usage with
dry_run
.
- Updated environment variables, please see README.
- Improved logging to debug 'Locking failed'.
- Support for virtual collision objects.
AddVirtualCollisionObjectToScene
RPC creates a new OT and adds its instance to a scene.- In the simplest case, each collision object will have its own ObjectType.
- But it is also possible to add more instances as with other types.
- When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.
- Ignoring
hidden
actions (a new flag inActionMetadata
). - New RPC
ObjectTypeUsage
returning scene ids where the ObjectType is used. - Support for debugging - relaying related RPCs to the Execution Service.
- Better handling of exceptions in asyncio tasks.
- More useful traceback is printed out.
- In development mode, an unhandled exception leads to shutdown of a service.
- In production mode, traceback is printed out and the service tries to continue.
Fixed
- Ban HT mode changes while moving.
- Arguments for getting robot joints (only affected multi-arm robots).
- Handle locking exceptions on scene start/stop.
- Copying of action points.
- Fixed locking within
CopyActionPoint
. - Fixed update of orientation IDs.
- Fixed locking within
- Added locking to Project client to make the cache caching properly.
modified
was missing for disabled object.- This happened when it was not possible to get object's base.
- Copy AP - update of orientation ID in actions.
- Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.
- HT mode for single arm robots was broken.
[0.21.0] - 2021-08-05
Changed
- Locks are not automatically released when aiming is done or cancelled.
- Linear movements are used by default for stepping and table alignment.
- Joints stream (
RobotJoints
event) now contains also gripper joints when available (depends on the particular ObjectType).
Fixed
- Getting action results (the result was always
False
). ctx_read_lock
made some RPCs impossible to success.- Object parameters checking.
- Values and types of object parameters were not checked at all.
- For now, only basic types are supported.
[0.20.0] - 2021-07-29
Changed
- Support for multi arm robots.
- Dealing with
arm_id
parameter in RPCs. - Streaming EEF poses for all arms.
- Dealing with
- Allow to reposition scene objects while online.
- It was allowed to reposition objects using robot,
- ...but disallowed to do it manually.
- This was inconsistent and unnecessarily restrictive.
- Now objects (except robots) can be repositioned anytime.
- When creating a new project, common parameters are added automatically.
- At the moment those are
scene_id
andproject_id
. - A user could use or remove them.
- At the moment those are
- Collisions are not removed after stopping the scene.
- ObjectType change detection is now based on
modified
instead of comparing source codes. - ARServer Project service client now stores cached scenes/projects.
- Object aiming reworked.
- RPCs were renamed and all of them now have
dry_run
. - There is a new method to cancel the process.
- One user can be aiming one object at the moment.
- Both the object and the selected robot have to be write-locked.
- Improved logging.
- Test was added.
- RPCs were renamed and all of them now have
- Server no longer downloads URDF packages.
ARCOR2_DATA_PATH
environment variable is no longer used.- Clients will get URDFs through reverse proxy from Project service.
NewObjectType
no longer assumes that mesh already exists.- A file associated to mesh must exist in advance.
Fixed
- All calls to the Scene service are guarded against exceptions.
- Renaming of project parameters fixed.
- It was possible to use already taken name.
[0.19.0] - 2021-06-22
- Update to API version 0.15.0.
[0.18.0] - 2021-06-11
Changed
- Updated to work with Project service 0.8.0.
- Allow fast re-login after connection was broken.
- Added locking to const-related RPCs.
- Log calibration-related errors.
Fixed
- Handle invalid ObjectType settings annotation.
[0.17.0] - 2021-05-21
Changed
- Return value of
GetCameraPose
RPC updated. - Objects initialization order.
- Object initialization order can be set using class-level
INIT_PRIORITY
variable. - The higher priority, the sooner are objects of that type initialized.
- Initialization happens in parallel (for objects of the same priority).
- Object initialization order can be set using class-level
SetEefPerpendicularToWorld
now calls IK in parallel.- This provides almost 100% speed-up even when the robot service proceeds requests one by one.
- Added locking of internal resources.
-
Created a lock module that allows to read/write lock existing or special objects. The module contains:
- lock object with all necessary methods;
- structures for keeping data about locked objects;
- locking-related exceptions;
- queue and task for notifying UI about lock data;
- methods for auto-unlocking after timeout when user logouts.
-
Base tests of locking structure.
-
RPCs for (un)locking object, registering user name.
-
Events for (un)locking object.
-
Created a class for maintaining connected UIs.
-
Project methods to get object by ID, object parent and object children.
-
All RPCs that requires some kind of locking are now lock-guarded.
-
Updated existing tests to work with newly implemented locking.
-
Global variables
SCENE
,PROJECT
andINTERFACES
moved to new classes.
-
- Rewritten cache for the Project service.
- The cache is now always on (provides a significant speed-up).
- External updates to the Project service are recognized properly.
- New RPC
AddApUsingRobot
. - Support for multiple inheritance.
- ObjectTypes can now use mixins.
- It should be used like
class NewObjectType(MixinA, MixinB, Generic)
. - E.g. the last ancestor should be something derived from
Generic
.
SetEefPerpendicularToWorld
faster as it calls IK in parallel.
Fixed
SceneState
event was not sent to a newly connected UIs.- Results of actions are now forgotten when going offline.
- Fixed support for
link
parameter type.
[0.16.0] - 2021-04-20
Fixed
- Action can't use its own result as a parameter (link parameter type).
Changed
- Dependency on arcor2 0.15.0 with updated REST client.
- Action parameter value is now always JSON.
- It used to be a string for link/constant special types.
[0.15.1] - 2021-04-19
Fixed
- Dependency on bugfix release of arcor2.
[0.15.0] - 2021-03-30
Changed
- New RPC
SetEefPerpendicularToWorld
. - New RPC
StepRobotEef
.
Fixed
CopyActionPoint
RPC: update action parameters to use copied orientations.- Scene now goes offline before execution and to the original state after it.
- Scene-related messages adapted to a new terminology.
[0.14.0] - 2021-03-15
Changed
- Improved logging for debugging robot features.
- Suffix is added to copied AP/action instead of prefix.
Fixed
- Names for orientations/joints were not checked as valid identifiers.
- Action names were checked, but should not be.
[0.13.0] - 2021-03-03
Changed
- API to copy action point (including orientations, joints, child APs).
- Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain
safe
parameter. - API to enable/disable robot hand teaching mode.
- Concrete and helpful error messages when a name entered by the user is refused.
Fixed
- Only
BareActionPoint
was sent on parent change.
[0.12.0] - 2021-02-08
Changed
- Improved scene-related messages.
- Error messages now contain the name of the object which caused the error.
- New
MarkersCorners
RPC for getting markers corners. - Support for
an
parameter (explicit parameters). - Improved check of action signature and annotation.
- New WS API for execution state reporting.
- Support for project constants.
- Only basic types are supported so far.
Fixed
- Better handling of missing collision model.
- If server can't get collision model of the object, the object is disabled.
- Previously, this situation caused crash of the server.
GetCameraPose
callback fixed (used to beCalibration
).
[0.11.0] - 2020-12-14
Changed
- Improved support for logic branching.
- So far, only boolean outputs are supported.
- Improved handling of return values (uses the same function as the main script).
- The internal database of ObjectTypes in updated each time before opening a scene or a project.
- Changes are notified using
ChangedObjectTypes
event (one event for added objects, one for updated and another one for deleted ones).
- Changes are notified using
- Support for camera/robot calibration.
- Initial support for cameras (getting images, camera parameters).
[0.10.1] - 2020-10-30
Changed
- RPC for IK/FK.
[0.10.0] - 2020-10-22
Changed
- Updated due to a breaking change in
arcor2_execution_data
.
[0.9.1] - 2020-10-19
Changed
- ARCOR2 dependency updated
Fixed
- fixed check for existing override
[0.9.0] - 2020-10-16
Changed
- WS API for updates of scene objects parameters and management of project-defined overrides.
- Integration tests refactored into multiple modules that can run in parallel.
UpdateObjectPose
andUpdateActionPointPosition
now has dry_run.- Box/Cylinder/Sphere models now have some constraints on their dimensions.
[0.8.0] - 2020-09-24
Changed
- The first release of the separated package.
- RPC/Events refactored.
- ARServer script now has
--openapi
argument and is able to generate OpenAPI models for RPCs and events. - Detection of loops in: AP hierarchy, logic.
- Caching client for Project service.
- Proper handling of object inheritance.
- ObjectTypes are stored in temporary module on disk.
- Integration tests.
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