Obbart/universal_robots_ros_driver
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Faster loading speed and better precision for LBTF

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Low Bandwidth Trajectory Follower has now much less comments
and debugging information - which means that it will parse on UR robot
in around 400 ms instead of 700 ms. It also has an adjustment loop
in case the robot does not reach any of the trajectory points specified.

It will catch-up at every trajectory point sent by MoveIt and will try
to get as close as possible to the desired pointi (it will check if all
joints are within MAX_JOINT_DIFFERENCE from the desired positions)
This commit is contained in:
Jarek Potiuk
2018-01-27 13:14:38 +01:00
parent a54b97e939
commit 42b336bbf5
4 changed files with 24 additions and 153 deletions
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README.md
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@@ -55,10 +55,8 @@ A new driver for the UR3/UR5/UR10 robot arms from Universal Robots. It is design
* **servoj_time** - time interval (real time) for which each interpolation step controls the robot (using servoj command). See below on examples of setting different time parameters. Default value is 0.008 (corresponds to expected 125Hz frequency of UR robot control)
* **servoj_time_waiting** - time in seconds (real time) of internal active loop while the robot waits for new instructions in case of delays in communication. The smaller value, the faster robot restarts move after delay (but more stress is put on URControl processor). Default value is 0.001 (1000 Hz check frequency)
* **max_waiting_time** - maximum time in seconds (real time) to wait for instructions from the drive before move is aborted. Defaults to 2 seconds.
* **debug** - displays (visible in the log of Polyscope/pendant and URControl PC) helpful information about trajectory points messages exchanged Driver <-> URScript. It is safe to be run with real robot and introduces very small overhead on the execution of the moves
* **more_debug** - displays even more debug information in the logs of Polyscope - details about interpolation loop calculations and execution. It adds a lot of overhead and is not recommended to be used with real robot (It's quite OK to run it with URSim though)
* **servoj_gain** and **servoj_lookahead_time** - useful to control precision and speed of the position moves with servoj command (see URScript documentation for detailes)
* **max_joint_difference** - maximum allowed difference between target and actual joints - checked at every trajectory step
Here are some examples of manipulating the time flow for **Low Bandwidth Trajectory Follower** mode. You can use other settings but you should do it on your own risk.
* Default mode: *servoj_time* = 0.008, *time_interval* = 0.008 : interpolation time flows with the same speed as real time - moves are executed as planned
* Slow-motion mode: *servoj_time* = 0.008, *time_interval* = 0.004 : interpolation time flows 2x slower than real time, so the move is executed 2x slower than planned. Requires configuring MoveIt to accept much slower moves than expected (otherwise MoveIt cancels such move mid-way)