Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-09 17:40:47 +02:00
Code Releases Activity

Re-add urscript topic (#7)

Browse Source 
* Re-added UR script - for custom UR Script execution

* Restarting the driver when robot closes the connection on script error.

The pipelines work in the way that if the connection is
is closed by the control PC, it will not be re-established. This
happens for example if you use the URScript topic and upload
script that does not compile. The robot will then close the
connection, the pipeline will close and any subsequent
uploads will fail and noone realises there is a problem.

While we could re-establish the connection, I think much better
solution is to shutdown the driver in such case. This is much more
resilient behaviour as it will clean up any inconsistent driver state.

We can utilise "respawn" feature of ROS launch and restart such
driver automatically (launch files are updated as part of that change).

On top of "production" stability, it allows for much nicer development
workflow - you can use URScript topic for development of new scripts
and have the driver restart every time you make mistake.
Without it, any mistake requires restarting the driver manually.
This commit is contained in:
Jarek Potiuk
2018-01-02 20:22:55 +01:00
committed by Simon Rasmussen
parent 24eef75d72
commit 6950b3c4bd
20 changed files with 176 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
View File

@@ -22,7 +22,7 @@ A new driver for the UR3/UR5/UR10 robot arms from Universal Robots. It is design
* Besides this, the driver subscribes to two new topics:
* ~~*/ur\_driver/URScript* : Takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot, conveyor tracking and the like.~~
* */ur\_driver/URScript* : Takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot, conveyor tracking and the like.
* */joint\_speed* : Takes messages of type _trajectory\_msgs/JointTrajectory_. Parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. This interface is intended for doing visual servoing and other kind of control that requires speed control rather than position control of the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.