Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 18:10:47 +02:00
Code Releases Activity

Added interface for force-torque sensor

Browse Source 
Closes #20
This commit is contained in:
Felix Mauch
2019-06-05 13:29:45 +02:00
parent 38f1661617
commit 45430ec0e7
4 changed files with 17 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -61,6 +61,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
return false;
}
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));
@@ -90,11 +92,15 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
speedsc_interface_.registerHandle(
ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
"wrench", tcp_link_, fts_measurements_.begin(), fts_measurements_.begin() + 3));
// Register interfaces
registerInterface(&js_interface_);
registerInterface(&spj_interface_);
// registerInterface(&pj_interface_);
registerInterface(&speedsc_interface_);
registerInterface(&fts_interface_);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
@@ -131,6 +137,11 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("actual_TCP_force", fts_measurements_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find actual_TCP_force in data sent from robot. This should not happen!");
}
// pausing state follows runtime state when pausing
if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED))