Obbart/universal_robots_ros_driver
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Changed time base for ros_control. Fixes #44

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This commit is contained in:
Thomas Timm Andersen
2016-05-03 10:11:01 +02:00
parent c93d9dd543
commit 5b22e46450
2 changed files with 13 additions and 10 deletions
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14
src/ur_ros_wrapper.cpp
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@@ -560,19 +560,15 @@ private:
while (!robot_.rt_interface_->robot_state_->getControllerUpdated()) { while (!robot_.rt_interface_->robot_state_->getControllerUpdated()) {
rt_msg_cond_.wait(locker); rt_msg_cond_.wait(locker);
} }
clock_gettime(CLOCK_MONOTONIC, &current_time);
elapsed_time = ros::Duration(
current_time.tv_sec - last_time.tv_sec
+ (current_time.tv_nsec - last_time.tv_nsec)
/ BILLION);
last_time = current_time;
// Input // Input
hardware_interface_->read(); hardware_interface_->read();
robot_.rt_interface_->robot_state_->setControllerUpdated(); robot_.rt_interface_->robot_state_->setControllerUpdated();
// Control // Control
controller_manager_->update( clock_gettime(CLOCK_MONOTONIC, &current_time);
ros::Time(current_time.tv_sec, current_time.tv_nsec), elapsed_time = ros::Duration(current_time.tv_sec - last_time.tv_sec + (current_time.tv_nsec - last_time.tv_nsec)/ BILLION);
elapsed_time); controller_manager_->update(ros::Time::now(), elapsed_time);
last_time = current_time;
// Output // Output
hardware_interface_->write(); hardware_interface_->write();

9
test_move.py
View File

@@ -102,8 +102,15 @@ def move_interrupt():
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g) client.send_goal(g)
time.sleep(2.0) time.sleep(3.0)
print "Interrupting" print "Interrupting"
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g) client.send_goal(g)
client.wait_for_result() client.wait_for_result()
except KeyboardInterrupt: except KeyboardInterrupt: