Obbart/universal_robots_ros_driver
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Only send robot commands, when robot is in runtime states PLAYING and

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PAUSING
This commit is contained in:
Felix Mauch
2019-05-23 17:44:54 +02:00
parent 765812b4ae
commit 4f646bb888
4 changed files with 19 additions and 1 deletions
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1
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -74,6 +74,7 @@ protected:
double speed_scaling_combined_; double speed_scaling_combined_;
std::vector<std::string> joint_names_; std::vector<std::string> joint_names_;
uint32_t runtime_state_;
bool position_controller_running_; bool position_controller_running_;
}; };

10
ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
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@@ -38,6 +38,16 @@ namespace ur_driver
{ {
namespace rtde_interface namespace rtde_interface
{ {
enum class RUNTIME_STATE : uint32_t
{
STOPPING = 0,
STOPPED = 1,
PLAYING = 2,
PAUSING = 3,
PAUSED = 4,
RESUMING = 5
};
struct ParseVisitor : public boost::static_visitor<> struct ParseVisitor : public boost::static_visitor<>
{ {
template <typename T> template <typename T>

1
ur_rtde_driver/resources/rtde_recipe.txt
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@@ -3,3 +3,4 @@ actual_q
actual_qd actual_qd
speed_scaling speed_scaling
target_speed_fraction target_speed_fraction
runtime_state

8
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -35,6 +35,7 @@ HardwareInterface::HardwareInterface()
, joint_velocities_{ { 0, 0, 0, 0, 0, 0 } } , joint_velocities_{ { 0, 0, 0, 0, 0, 0 } }
, joint_efforts_{ { 0, 0, 0, 0, 0, 0 } } , joint_efforts_{ { 0, 0, 0, 0, 0, 0 } }
, joint_names_(6) , joint_names_(6)
, runtime_state_(static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::STOPPED))
, position_controller_running_(false) , position_controller_running_(false)
{ {
@@ -124,6 +125,11 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
// This throwing should never happen unless misconfigured // 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!"); throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
} }
if (!data_pkg->getData("runtime_state", runtime_state_))
{
// 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!");
}
speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_; speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
} }
@@ -135,7 +141,7 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period) void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period)
{ {
if (position_controller_running_) if (position_controller_running_ && (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) || runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
{ {
// ROS_INFO_STREAM("Writing command: " << joint_position_command_); // ROS_INFO_STREAM("Writing command: " << joint_position_command_);
ur_driver_->writeJointCommand(joint_position_command_); ur_driver_->writeJointCommand(joint_position_command_);