Obbart/universal_robots_ros_driver
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implemented watchdog

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it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
This commit is contained in:
Tristan Schnell
2019-05-16 16:44:41 +02:00
parent 7e56332b26
commit 3f22a2479a
5 changed files with 94 additions and 7 deletions
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15
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -66,7 +66,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tcp_link_ = robot_hw_nh.param<std::string>("tcp_link", "tool0");
ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename));
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename,
std::bind(&HardwareInterface::handleRobotProgramStop, this, std::placeholders::_1)));
if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{
@@ -263,4 +264,16 @@ void HardwareInterface ::transform_force_torque()
fts_measurements_ = { tcp_force[0], tcp_force[1], tcp_force[2], tcp_torque[0], tcp_torque[1], tcp_torque[2] };
}
bool HardwareInterface ::isRobotProgramRunning() const
{
return robot_program_running_;
}
void HardwareInterface ::handleRobotProgramStop(bool program_running)
{
// TODO add ROS publisher to call for controller stop
robot_program_running_ = program_running;
}
} // namespace ur_driver