Merged in changes from release repository

ur_rtde_driver/config/ur10_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -48,18 +42,12 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -70,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10

ur_rtde_driver/config/ur10e_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -53,13 +47,7 @@ scaled_pos_traj_controller:
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05

ur_rtde_driver/config/ur3_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -48,18 +42,12 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -70,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10

ur_rtde_driver/config/ur3e_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -53,13 +47,7 @@ scaled_pos_traj_controller:
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05

ur_rtde_driver/config/ur5_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -48,18 +42,12 @@ scaled_pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -70,5 +58,5 @@ pos_traj_controller:
       wrist_2_joint: {trajectory: 0.2, goal: 0.1}
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate: 500
+   state_publish_rate: 125
    action_monitor_rate: 10

ur_rtde_driver/config/ur5e_controllers.yaml

@@ -4,7 +4,7 @@ hardware_control_loop:
 
 # Settings for ros_control hardware interface
 hardware_interface:
-   joints:
+   joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
 scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05
@@ -53,13 +47,7 @@ scaled_pos_traj_controller:
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
-   joints:
+   joints: *robot_joints
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
    constraints:
       goal_time: 0.6
       stopped_velocity_tolerance: 0.05

ur_rtde_driver/src/rtde/rtde_client.cpp

@@ -67,7 +67,7 @@ bool RTDEClient::init()
     tmp_version = dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get());
     if (!tmp_version->accepted_)
     {
-      throw UrException("Neither protocol version 1 nor 2 were accepted by the robot. This should not happen!");
+      throw UrException("Neither protocol version 1 nor 2 was accepted by the robot. This should not happen!");
     }
   }
 
@@ -110,7 +110,7 @@ bool RTDEClient::start()
   std::unique_ptr<comm::URPackage<PackageHeader>> package;
   stream_.write(buffer, size, written);
   if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)))
-    throw UrException("Could not get respone to rtde communication start request from robot. This should not happen!");
+    throw UrException("Could not get response to RTDE communication start request from robot. This should not happen!");
   rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get());
   return tmp->accepted_;
 }