Obbart/universal_robots_ros_driver
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Code Releases Activity

added custom service to set speed slider value

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This commit is contained in:
Tristan Schnell
2019-08-01 13:38:44 +02:00
parent c6a5df9fdc
commit 402f3fb691
3 changed files with 15 additions and 1 deletions
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11
ur_rtde_driver/CMakeLists.txt
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@@ -25,9 +25,18 @@ find_package(catkin REQUIRED
trajectory_msgs trajectory_msgs
ur_controllers ur_controllers
ur_msgs ur_msgs
message_generation
) )
find_package(Boost REQUIRED) find_package(Boost REQUIRED)
## Generate services in the 'srv' folder
add_service_files(
FILES
SetSpeedSlider.srv
)
generate_messages()
catkin_package( catkin_package(
INCLUDE_DIRS INCLUDE_DIRS
include include
@@ -49,11 +58,11 @@ catkin_package(
ur_controllers ur_controllers
ur_msgs ur_msgs
std_srvs std_srvs
message_runtime
DEPENDS DEPENDS
Boost Boost
) )
# check c++11 / c++0x # check c++11 / c++0x
include(CheckCXXCompilerFlag) include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11) check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)

2
ur_rtde_driver/package.xml
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@@ -19,6 +19,7 @@
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>boost</build_depend> <build_depend>boost</build_depend>
<build_depend>message_generation</build_depend>
<depend>actionlib</depend> <depend>actionlib</depend>
<depend>control_msgs</depend> <depend>control_msgs</depend>
@@ -43,6 +44,7 @@
<exec_depend>socat</exec_depend> <exec_depend>socat</exec_depend>
<exec_depend>ur_description</exec_depend> <exec_depend>ur_description</exec_depend>
<exec_depend>velocity_controllers</exec_depend> <exec_depend>velocity_controllers</exec_depend>
<exec_depend>message_runtime</exec_depend>
<export> <export>
<rosdoc config="rosdoc.yaml" /> <rosdoc config="rosdoc.yaml" />

3
ur_rtde_driver/srv/SetSpeedSlider.srv Normal file
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@@ -0,0 +1,3 @@
float64 data
---
bool success