Obbart/universal_robots_ros_driver
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Bugfixes in URScript commands

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 15:08:46 +02:00
parent c7556ace42
commit 12b92c14db
3 changed files with 7 additions and 8 deletions
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12
src/ur_driver.cpp
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@@ -86,7 +86,7 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
timestamps[i] - timestamps[i - 1]); timestamps[i] - timestamps[i - 1]);
command_string += buf; command_string += buf;
} }
command_string += "end\ntraj()\n"; command_string += "end\n";
//printf("%s", command_string.c_str()); //printf("%s", command_string.c_str());
rt_interface_->addCommandToQueue(command_string); rt_interface_->addCommandToQueue(command_string);
@@ -123,14 +123,14 @@ void UrDriver::setJointNames(std::vector<std::string> jn) {
void UrDriver::setToolVoltage(unsigned int v) { void UrDriver::setToolVoltage(unsigned int v) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v); sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v);
printf("%s", buf); //printf("%s", buf);
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
void UrDriver::setFlag(unsigned int n, bool b) { void UrDriver::setFlag(unsigned int n, bool b) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
printf("%s", buf); //printf("%s", buf);
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
@@ -138,14 +138,14 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
printf("%s", buf); //printf("%s", buf);
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
void UrDriver::setAnalogOut(unsigned int n, double f) { void UrDriver::setAnalogOut(unsigned int n, double f) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d, %1.4f)\nend\n", n, f); sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f);
printf("%s", buf); //printf("%s", buf);
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }

2
src/ur_realtime_communication.cpp
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@@ -83,7 +83,7 @@ void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
double q3, double q4, double q5, double acc) { double q3, double q4, double q5, double acc) {
char cmd[1024]; char cmd[1024];
sprintf(cmd, sprintf(cmd,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %1.5f,0.02)\n", "speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n",
q0, q1, q2, q3, q4, q5, acc); q0, q1, q2, q3, q4, q5, acc);
addCommandToQueue((std::string) (cmd)); addCommandToQueue((std::string) (cmd));
if (q0 != 0. or q1 != 0. or q2 != 0. or q3 != 0. or q4 != 0. or q5 != 0.) { if (q0 != 0. or q1 != 0. or q2 != 0. or q3 != 0. or q4 != 0. or q5 != 0.) {

1
src/ur_ros_wrapper.cpp
View File

@@ -317,7 +317,6 @@ private:
} }
void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) { void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) {
reorder_traj_joints(*msg);
double acc = *std::max_element(msg->points[0].accelerations.begin(), double acc = *std::max_element(msg->points[0].accelerations.begin(),
msg->points[0].accelerations.end()); msg->points[0].accelerations.end());
robot_.setSpeed(msg->points[0].velocities[0], robot_.setSpeed(msg->points[0].velocities[0],