Obbart/universal_robots_ros_driver
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Fixed include

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Thomas Timm Andersen
2015-09-10 13:30:43 +02:00
parent a7d3f78f0f
commit 10c8e6e012
1 changed files with 14 additions and 6 deletions
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20
src/ur_ros_wrapper.cpp
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@@ -25,6 +25,7 @@
#include "actionlib/server/simple_action_server.h" #include "actionlib/server/simple_action_server.h"
#include "trajectory_msgs/JointTrajectoryPoint.h" #include "trajectory_msgs/JointTrajectoryPoint.h"
#include "ur_msgs/SetIO.h" #include "ur_msgs/SetIO.h"
#include "ur_msgs/SetPayload.h"
#include "ur_msgs/SetPayloadRequest.h" #include "ur_msgs/SetPayloadRequest.h"
#include "ur_msgs/SetPayloadResponse.h" #include "ur_msgs/SetPayloadResponse.h"
#include "ur_msgs/SetIORequest.h" #include "ur_msgs/SetIORequest.h"
@@ -74,8 +75,9 @@ public:
speedSub_ = nh_.subscribe("joint_speed", 1, &RosWrapper::speedInterface, speedSub_ = nh_.subscribe("joint_speed", 1, &RosWrapper::speedInterface,
this); this);
ioSrv_ = nh_.advertiseService("ur_driver/set_io", &RosWrapper::setIO, this); ioSrv_ = nh_.advertiseService("ur_driver/set_io", &RosWrapper::setIO,
payloadSrv_ = nh_.advertiseService("ur_driver/set_payload", &RosWrapper::setPayload, this); this);
payloadSrv_ = nh_.advertiseService("ur_driver/set_payload", &RosWrapper::setPayload, this);
rt_publish_thread_ = new std::thread( rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this)); boost::bind(&RosWrapper::publishRTMsg, this));
@@ -137,13 +139,19 @@ private:
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& resp) { bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& resp) {
resp.success = true; resp.success = true;
if (req.fun == ur_msgs::SetIO::Request::FUN_SET_DIGITAL_OUT) { //if (req.fun == ur_msgs::SetIO::Request::FUN_SET_DIGITAL_OUT) {
if (req.fun == 1) {
robot_.setDigitalOut(req.pin, req.state > 0.0 ? true : false); robot_.setDigitalOut(req.pin, req.state > 0.0 ? true : false);
} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_FLAG) { } else if (req.fun == 2) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_FLAG) {
robot_.setFlag(req.pin, req.state > 0.0 ? true : false); robot_.setFlag(req.pin, req.state > 0.0 ? true : false);
} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_ANALOG_OUT) { //According to urdriver.py, set_flag will fail if called to rapidly in succession
ros::Duration(0.05).sleep();
} else if (req.fun == 3) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_ANALOG_OUT) {
robot_.setAnalogOut(req.pin, req.state); robot_.setAnalogOut(req.pin, req.state);
} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_TOOL_VOLTAGE) { } else if (req.fun == 4) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_TOOL_VOLTAGE) {
robot_.setToolVoltage((int) req.state); robot_.setToolVoltage((int) req.state);
} else { } else {
resp.success = false; resp.success = false;