Obbart/universal_robots_ros_driver
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Merge pull request #2 from TAMS-Group/fork_master

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Activation modes for service /ur_driver/robot_enable
This commit is contained in:
Simon Rasmussen
2017-08-30 16:39:48 +02:00
committed by GitHub
parent b57e327a09 231840fabf
commit 372aca967f
3 changed files with 45 additions and 4 deletions
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8
include/ur_modern_driver/ros/service_stopper.h
View File

@@ -12,6 +12,13 @@ enum class RobotState
ProtectiveStopped
};
enum class ActivationMode
{
Never,
Always,
OnStartup
};
class Service
{
public:
@@ -25,6 +32,7 @@ private:
ros::ServiceServer enable_service_;
std::vector<Service*> services_;
RobotState last_state_;
ActivationMode activation_mode_;
void notify_all(RobotState state);
bool handle(SharedRobotModeData& data, bool error);

6
launch/ur_common.launch
View File

@@ -16,6 +16,9 @@
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
<arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
@@ -30,7 +33,8 @@
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
<param name="require_activation" type="str" value="$(arg require_activation)" />
</node>
</launch>

31
src/ros/service_stopper.cpp
View File

@@ -4,12 +4,36 @@ ServiceStopper::ServiceStopper(std::vector<Service*> services)
: enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
, services_(services)
, last_state_(RobotState::Error)
, activation_mode_(ActivationMode::Never)
{
// enable_all();
std::string mode;
ros::param::param("~require_activation", mode, std::string("Never"));
if (mode == "Always")
{
activation_mode_ = ActivationMode::Always;
}
else if (mode == "OnStartup")
{
activation_mode_ = ActivationMode::OnStartup;
}
else
{
if (mode != "Never")
{
LOG_WARN("Found invalid value for param require_activation: '%s'\nShould be one of Never, OnStartup, Always", mode.c_str());
mode = "Never";
}
notify_all(RobotState::Running);
}
LOG_INFO("Service 'ur_driver/robot_enable' activation mode: %s", mode.c_str());
}
bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp)
{
// After the startup call OnStartup and Never behave the same
if (activation_mode_ == ActivationMode::OnStartup)
activation_mode_ = ActivationMode::Never;
notify_all(RobotState::Running);
return true;
}
@@ -41,6 +65,11 @@ bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
{
notify_all(RobotState::Error);
}
else if (activation_mode_ == ActivationMode::Never)
{
// No error encountered, the user requested automatic reactivation
notify_all(RobotState::Running);
}
return true;
}