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Catch RTDE exceptions in URrtde constructor #143

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Victorlouisdg opened this issue Mar 28, 2024 · 2 comments · Fixed by #148
Closed

Catch RTDE exceptions in URrtde constructor #143

Victorlouisdg opened this issue Mar 28, 2024 · 2 comments · Fixed by #148
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enhancement New feature or request

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@Victorlouisdg
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Sometimes connecting the to robot fails with weird errors. This often happens after protective stops or emergency stops. Restarting your script usually solves this. However it would be nice if airo-mono tries a few times itself, e.g:

max_attempts = 3
for i in range(max_attempts):
    try:
        gripper_left = Robotiq2F85(ip_address_left)
        robot_left = URrtde(ip_address_left, URrtde.UR3E_CONFIG, gripper_left)

        gripper_right = Robotiq2F85(ip_address_right)
        robot_right = URrtde(ip_address_right, URrtde.UR3E_CONFIG, gripper_right)

        dual_arm = DualArmPositionManipulator(robot_left, X_W_LCB, robot_right, X_W_RCB)
        return dual_arm
    except RuntimeError as e:
        print(f"Failed to connect to UR5e robots. Attempt {i+1}/{max_attempts}. Error:\n {e}")
        if i == max_attempts - 1:
            raise e
        time.sleep(2)

This works for me for the cloth competition, example of it saving me a little time:
Screenshot from 2024-03-28 10-28-20
@Victorlouisdg Victorlouisdg added the enhancement New feature or request label Mar 28, 2024
@tlpss
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tlpss commented Mar 28, 2024

I think we should only add this to the 'real' hardware classes? not to the Bimanual interfaces on top of them?

@Victorlouisdg
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Agreed.

@m-decoster m-decoster mentioned this issue Oct 25, 2024
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Closes #143 - Catch RTDE exceptions in constructor airo-ugent/airo-mono
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@Victorlouisdg @tlpss