Obbart/universal_robots_ros_driver
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Added a service to hand back control to the robot

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This way, Ros can  be a part of a larger program.
This commit is contained in:
Felix Mauch
2019-07-16 09:31:45 +02:00
parent 03e7030872
commit 0805b47ff9
5 changed files with 52 additions and 7 deletions
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7
ur_rtde_driver/resources/servoj.urscript
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@@ -71,6 +71,7 @@ socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
thread_servo = run servoThread()
keepalive = -2
textmsg("External control active")
params_mult = socket_read_binary_integer(1+6, "reverse_socket")
keepalive = params_mult[1]
while keepalive > 0:
@@ -78,12 +79,10 @@ while keepalive > 0:
socket_send_line(1, "reverse_socket")
params_mult = socket_read_binary_integer(1+6, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
if params_mult[0] > 0:
keepalive = params_mult[1]
if params_mult[1] > 1:
keepalive = params_mult[1]
q = [params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate, params_mult[7] / MULT_jointstate]
set_servo_setpoint(q)
else:
keepalive = 1
end
else:
keepalive = keepalive - 1
@@ -94,5 +93,5 @@ end
textmsg("Stopping communication and servoing")
cmd_servo_state = SERVO_STOPPED
sleep(.1)
socket_close()
socket_close("reverse_socket")
kill thread_servo