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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11
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -62,7 +62,7 @@ def myProg():
stopj(1.0)
sync()
elif state == SERVO_RUNNING:
servoj(q, t=0.008, lookahead_time=0.03, gain=300)
servoj(q, t=0.008, lookahead_time=0.03, gain=750)
else:
sync()
end
@@ -90,7 +90,7 @@ def myProg():
end
)";
ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP) : rtde_frequency_(125) // conservative CB3 default.
ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
{
ROS_INFO_STREAM("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_));
@@ -100,6 +100,8 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP) : rtde_frequency_(125
throw std::runtime_error("initialization went wrong"); // TODO: be less harsh
}
rtde_frequency_ = rtde_client_->getMaxFrequency();
comm::URStream<rtde_interface::PackageHeader> stream(ROBOT_IP, 30001);
stream.connect();
@@ -119,7 +121,10 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP) : rtde_frequency_(125
uint32_t reverse_port = 50001; // TODO: Make this a parameter
reverse_interface_.reset(new comm::ReverseInterface(reverse_port));
ROS_INFO_STREAM("Created reverse interface");
rtde_client_->start(); // TODO: Add extra start method (also to HW-Interface)
ROS_INFO_STREAM("Initialization done");
}
std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage()
@@ -134,7 +139,7 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
if (tmp != nullptr)
{
urpackage.release();
return std::move(std::unique_ptr<rtde_interface::DataPackage>(tmp));
return std::unique_ptr<rtde_interface::DataPackage>(tmp);
}
}
return nullptr;