moved rtde recipe to external text file

ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h

@@ -51,7 +51,7 @@ class RTDEClient
 {
 public:
   RTDEClient() = delete;
-  RTDEClient(std::string robot_ip, comm::INotifier& notifier);
+  RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& recipe_file);
   ~RTDEClient() = default;
   bool init();
   bool start();
@@ -64,6 +64,7 @@ public:
 
 private:
   comm::URStream<PackageHeader> stream_;
+  std::vector<std::string> recipe_;
   RTDEParser parser_;
   comm::URProducer<PackageHeader> prod_;
   comm::Pipeline<PackageHeader> pipeline_;
@@ -73,7 +74,7 @@ private:
   constexpr static const double CB3_MAX_FREQUENCY = 125.0;
   constexpr static const double URE_MAX_FREQUENCY = 500.0;
 
-  std::vector<std::string> readRecipe();
+  std::vector<std::string> readRecipe(const std::string& recipe_file);
 };
 
 }  // namespace rtde_interface

ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h

@@ -46,7 +46,7 @@ public:
    * \param robot_ip IP-address under which the robot is reachable.
    * \param script_file URScript file that should be sent to the robot
    */
-  UrDriver(const std::string& robot_ip, const std::string& script_file);
+  UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& recipe_file);
   virtual ~UrDriver() = default;
 
   /*!

ur_rtde_driver/launch/ur10_ros_control.launch

@@ -19,6 +19,7 @@
   <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
   <arg name="stopped_controllers" default=""/>
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -29,6 +30,7 @@
   <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
     <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
     <param name="script_file" value="$(arg urscript_file)"/>
+    <param name="recipe_file" value="$(arg rtde_recipe_file)"/>
     <!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
     <!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
     <!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->

ur_rtde_driver/resources/rtde_recipe.txt

@@ -0,0 +1,5 @@
+timestamp
+actual_q
+actual_qd
+speed_scaling
+target_speed_fraction

ur_rtde_driver/src/main_plain_driver.cpp

@@ -20,13 +20,14 @@ int main(int argc, char* argv[])
 {
   std::string robot_ip = "192.168.56.101";
   std::string script_filename = "urprog.urscript";
+  std::string recipe_filename = "rtde_recipe.txt";
 
   if (argc > 2)
   {
     robot_ip = argv[1];
   }
 
-  UrDriver driver(robot_ip, script_filename);
+  UrDriver driver(robot_ip, script_filename, recipe_filename);
 
   while (true)
   {

ur_rtde_driver/src/ros/hardware_interface.cpp

@@ -46,14 +46,21 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
   std::string robot_ip = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
   std::string script_filename;
+  std::string recipe_filename;
   if (!robot_hw_nh.getParam("script_file", script_filename))
   {
     ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("script_file") << " not given.");
     return false;
   }
 
+  if (!robot_hw_nh.getParam("recipe_file", recipe_filename))
+  {
+    ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("recipe_file") << " not given.");
+    return false;
+  }
+
   ROS_INFO_STREAM("Initializing urdriver");
-  ur_driver_.reset(new UrDriver(robot_ip, script_filename));
+  ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename));
 
   if (!root_nh.getParam("hardware_interface/joints", joint_names_))
   {

ur_rtde_driver/src/rtde/rtde_client.cpp

@@ -31,9 +31,10 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier)
+RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& recipe_file)
   : stream_(robot_ip, UR_RTDE_PORT)
-  , parser_(readRecipe())
+  , recipe_(readRecipe(recipe_file))
+  , parser_(recipe_)
   , prod_(stream_, parser_)
   , pipeline_(prod_, PIPELINE_NAME, notifier)
   , max_frequency_(URE_MAX_FREQUENCY)
@@ -83,11 +84,11 @@ bool RTDEClient::init()
   LOG_INFO("Setting up RTDE communication with frequency %f", max_frequency_);
   if (protocol_version == 2)
   {
-    size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency_, readRecipe());
+    size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency_, recipe_);
   }
   else
   {
-    size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, readRecipe());
+    size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, recipe_);
   }
   stream_.write(buffer, size, written);
   return pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
@@ -104,14 +105,16 @@ bool RTDEClient::start()
   rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get());
   return tmp->accepted_;
 }
-std::vector<std::string> RTDEClient::readRecipe()
+std::vector<std::string> RTDEClient::readRecipe(const std::string& recipe_file)
 {
   std::vector<std::string> recipe;
-  recipe.push_back("timestamp");
+  std::ifstream file(recipe_file);
-  recipe.push_back("actual_q");
+  std::string line;
-  recipe.push_back("actual_qd");
+  while (std::getline(file, line))
-  recipe.push_back("speed_scaling");
+  {
-  recipe.push_back("target_speed_fraction");
+    recipe.push_back(line);
+  }
+  recipe_ = recipe;
   return recipe;
 }
 

ur_rtde_driver/src/ur/ur_driver.cpp

@@ -42,11 +42,12 @@ static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
 static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
 static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
 
-ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file)
+ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
+                              const std::string& recipe_file)
   : servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
 {
   LOG_INFO("Initializing RTDE client");
-  rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_));
+  rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));
 
   if (!rtde_client_->init())
   {