Users Manual

message Pose
{
optional Vector3d position = 1; // Position in meters
optional Quaternion orientation = 2; // Orientation as unit quaternion
repeated double covariance = 3 [packed=true]; // Row-major
˓→representation of the 6x6 covariance matrix (x, y, z, rotation about X axis,
˓→rotation about Y axis, rotation about Z axis)
}
message Time
{
/// \brief Seconds
optional int64 sec = 1;
/// \brief Nanoseconds
optional int32 nsec = 2;
}
message Quaternion
{
optional double x = 2;
optional double y = 3;
optional double z = 4;
optional double w = 5;
}
message Vector3d
{
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
8.4 KUKA Ethernet KRL Interface
The rc_visard provides an Ethernet KRL Interface (EKI Bridge), which allows communicating with the rc_visard
from KUKA KRL via KUKA.EthernetKRL XML.
Note: The component is optional and requires a separate Roboception’s EKIBridge license (Section 9.6) to be
purchased.
Note: The KUKA.EthernetKRL add-on software package version 2.2 or newer must be activated on the robot
controller to use this component.
The EKI Bridge can be used to programmatically
• do service calls, e.g. to start and stop individual computational nodes, or to use offered services such as the
hand-eye calibration or the computation of grasp poses;
• set and get run-time parameters of computation nodes, e.g. of the camera, or disparity calculation.
8.4.1 Ethernet connection configuration
The EKI Bridge listens on port 7000 for EKI XML messages and transparently bridges the rc_visard’s REST-
API (Section 8.2). The received EKI messages are transformed to JSON and forwarded to the rc_visard’s REST-
API. The response from the REST-API is transformed back to EKI XML.
8.4. KUKA Ethernet KRL Interface 164