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

implemented initialization of rs485 interface.

Browse Source
This commit is contained in:
Felix Mauch
2019-06-06 17:36:06 +02:00
parent e4a2e9e743
commit 4cd13b6b83
10 changed files with 495 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -26,6 +26,7 @@
//----------------------------------------------------------------------
#include "ur_rtde_driver/ros/hardware_interface.h"
#include "ur_rtde_driver/ur/tool_communication.h"
#include <Eigen/Geometry>
@@ -66,9 +67,67 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tcp_link_ = robot_hw_nh.param<std::string>("tcp_link", "tool0");
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
bool use_tool_communication = robot_hw_nh.param<bool>("use_tool_communication", "false");
std::unique_ptr<ToolCommSetup> tool_comm_setup;
if (use_tool_communication)
{
tool_comm_setup.reset(new ToolCommSetup());
using ToolVoltageT = std::underlying_type<ToolVoltage>::type;
ToolVoltageT tool_voltage;
if (!robot_hw_nh.getParam("tool_voltage", tool_voltage))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_voltage") << " not given.");
return false;
}
tool_comm_setup->setToolVoltage(static_cast<ToolVoltage>(tool_voltage));
using ParityT = std::underlying_type<Parity>::type;
ParityT parity;
if (!robot_hw_nh.getParam("tool_parity", parity))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_parity") << " not given.");
return false;
}
int baud_rate;
if (!robot_hw_nh.getParam("tool_baud_rate", baud_rate))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_baud_rate") << " not given.");
return false;
}
tool_comm_setup->setBaudRate(baud_rate);
int stop_bits;
if (!robot_hw_nh.getParam("tool_stop_bits", stop_bits))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_stop_bits") << " not given.");
return false;
}
tool_comm_setup->setStopBits(stop_bits);
int rx_idle_chars;
if (!robot_hw_nh.getParam("tool_rx_idle_chars", rx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_rx_idle_chars") << " not given.");
return false;
}
tool_comm_setup->setRxIdleChars(rx_idle_chars);
tool_comm_setup->setParity(static_cast<Parity>(parity));
int tx_idle_chars;
if (!robot_hw_nh.getParam("tool_tx_idle_chars", tx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_tx_idle_chars") << " not given.");
return false;
}
tool_comm_setup->setTxIdleChars(tx_idle_chars);
}
ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename,
std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1)));
std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1),
std::move(tool_comm_setup)));
if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{