Obbart/universal_robots_ros_driver
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get frequency from robot

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This commit is contained in:
Felix Mauch
2019-05-07 14:30:45 +02:00
parent f38ec92389
commit 4106aa9fb8
10 changed files with 49 additions and 31 deletions
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28
ur_controllers/include/ur_controllers/hardware_interface_adapter.h
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@@ -15,7 +15,6 @@
#ifndef UR_CONTROLLERS_HARDWARE_INTERFACE_ADAPTER_H_INCLUDED
#define UR_CONTROLLERS_HARDWARE_INTERFACE_ADAPTER_H_INCLUDED
#include <joint_trajectory_controller/hardware_interface_adapter.h>
#include "ur_controllers/scaled_joint_command_interface.h"
@@ -43,20 +42,24 @@ template <class State>
class HardwareInterfaceAdapter<ur_controllers::ScaledPositionJointInterface, State>
{
public:
HardwareInterfaceAdapter() : joint_handles_ptr_(0) {}
HardwareInterfaceAdapter() : joint_handles_ptr_(0)
{
}
bool init(std::vector<ur_controllers::ScaledJointHandle>& joint_handles, ros::NodeHandle& /*controller_nh*/)
{
// Store pointer to joint handles
joint_handles_ptr_ = &joint_handles;
return true;
}
void starting(const ros::Time& /*time*/)
{
if (!joint_handles_ptr_) {return;}
if (!joint_handles_ptr_)
{
return;
}
// Semantic zero for commands
for (auto& jh : *joint_handles_ptr_)
@@ -65,20 +68,23 @@ public:
}
}
void stopping(const ros::Time& /*time*/) {}
void stopping(const ros::Time& /*time*/)
{
}
void updateCommand(const ros::Time& /*time*/,
const ros::Duration& /*period*/,
const State& desired_state,
const State& /*state_error*/)
void updateCommand(const ros::Time& /*time*/, const ros::Duration& /*period*/, const State& desired_state,
const State& /*state_error*/)
{
// Forward desired position to command
const unsigned int n_joints = joint_handles_ptr_->size();
for (unsigned int i = 0; i < n_joints; ++i) {(*joint_handles_ptr_)[i].setCommand(desired_state.position[i]);}
for (unsigned int i = 0; i < n_joints; ++i)
{
(*joint_handles_ptr_)[i].setCommand(desired_state.position[i]);
}
}
private:
std::vector<ur_controllers::ScaledJointHandle>* joint_handles_ptr_;
};
#endif // ifndef UR_CONTROLLERS_HARDWARE_INTERFACE_ADAPTER_H_INCLUDED
#endif // ifndef UR_CONTROLLERS_HARDWARE_INTERFACE_ADAPTER_H_INCLUDED

2
ur_controllers/include/ur_controllers/speed_scaling_state_controller.h
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@@ -36,7 +36,7 @@ public:
private:
std::vector<SpeedScalingHandle> sensors_;
//TODO: We should use a better datatype later on
// TODO: We should use a better datatype later on
typedef std::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64> > RtPublisherPtr;
std::vector<RtPublisherPtr> realtime_pubs_;
std::vector<ros::Time> last_publish_times_;

1
ur_controllers/src/scaled_joint_trajectory_controller.cpp
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@@ -18,7 +18,6 @@
#include <pluginlib/class_list_macros.hpp>
#include <trajectory_interface/quintic_spline_segment.h>
namespace position_controllers
{
typedef ur_controllers::ScaledJointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,

1
ur_controllers/src/speed_scaling_state_controller.cpp
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@@ -86,4 +86,3 @@ void SpeedScalingStateController ::stopping(const ros::Time& /*time*/)
} // namespace ur_controllers
PLUGINLIB_EXPORT_CLASS(ur_controllers::SpeedScalingStateController, controller_interface::ControllerBase)