diff --git a/README.md b/README.md index 04d42a9..a0b9946 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # Universal_Robots_ROS_Driver Universal Robots have become a dominant supplier lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains. -
Universal Robot e-Serie familie
+
Universal Robot e-Serie familie
With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties. @@ -42,7 +42,7 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro targets precisely. * **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (See - the [Real-time setup guide](ur_rtde_driver/doc/real_time.md) on how to achieve this) + the [Real-time setup guide](ur_robot_driver/doc/real_time.md) on how to achieve this) * Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running on the robot that handles control commands sent from ROS side. With this, the robot can be **paused**, **stopped** and **resumed** without restarting the ROS driver. @@ -57,10 +57,10 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro speed scaling slows down the robot. Also, the pausing function can only be used, if the default scaled trajectory controller is used. -Please see the external [feature list](ur_rtde_driver/doc/features.md) for a listing of all features supported by this driver. +Please see the external [feature list](ur_robot_driver/doc/features.md) for a listing of all features supported by this driver. ## Contents -This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as: +This repository contains the new **ur_robot_driver** and a couple of helper packages, such as: * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on the robot's state. This can be helpful, when the robot is in a state, where it won't accept @@ -69,14 +69,14 @@ This repository contains the new **ur_rtde_driver** and a couple of helper packa information to make it usable by the robot_description. * **ur_controllers**: Controllers introduced with this driver, such as speed-scaling-aware controllers. - * **ur_rtde_driver**: The actual driver package. + * **ur_robot_driver**: The actual driver package. ## Requirements This driver requires a system setup with ROS. It is recommended to use **Ubuntu 18.04 with ROS melodic**, however using Ubuntu 16.04 with ROS kinetic should also work. To make sure that robot control isn't affected by system latencies, it is highly recommended to use -a real-time kernel with the system. See the [real-time setup guide](ur_rtde_driver/doc/real_time.md) +a real-time kernel with the system. See the [real-time setup guide](ur_robot_driver/doc/real_time.md) on information how to set this up. ## Building @@ -101,20 +101,20 @@ $ catkin_make $ source devel/setup.bash ``` -## Setting up a UR robot for ur_rtde_driver +## Setting up a UR robot for ur_robot_driver ### Prepare the robot -For using the *ur_rtde_driver* with a real robot you need to install the +For using the *ur_robot_driver* with a real robot you need to install the **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver. **Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in case of eSeries) is necessary. For installing the necessary URCap and creating a program, please see the individual tutorials on -how to [setup a CB3 robot](ur_rtde_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series -robot](ur_rtde_driver/doc/install_urcap_e_series.md). +how to [setup a CB3 robot](ur_robot_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series +robot](ur_robot_driver/doc/install_urcap_e_series.md). To setup the tool communication on an e-Series robot, please consider the [tool communication setup -guide](ur_rtde_driver/doc/setup_tool_communication.md). +guide](ur_robot_driver/doc/setup_tool_communication.md). ### Prepare the ROS PC For using the driver make sure it is installed (either by the debian package or built from source @@ -145,14 +145,14 @@ to go ahead starting the driver. (**Note**: We do recommend, though, to calibrat To actually start the robot driver use one of the existing launchfiles - $ roslaunch ur_rtde_driver _bringup.launch robot_ip:=192.168.56.101 \ + $ roslaunch ur_robot_driver _bringup.launch robot_ip:=192.168.56.101 \ where **** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e*. Note that in this example we load the calibration parameters for the robot "ur10_example". If you calibrated your robot before, pass that calibration to the launch file: - $ roslaunch ur_rtde_driver _bringup.launch robot_ip:=192.168.56.101 \ + $ roslaunch ur_robot_driver _bringup.launch robot_ip:=192.168.56.101 \ kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml If the parameters in that file don't match the ones reported from the robot, the driver will output diff --git a/ur_calibration/CMakeLists.txt b/ur_calibration/CMakeLists.txt index 08fb31e..ed5c707 100644 --- a/ur_calibration/CMakeLists.txt +++ b/ur_calibration/CMakeLists.txt @@ -9,7 +9,7 @@ add_compile_options(-std=c++11) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp - ur_rtde_driver + ur_robot_driver ) find_package(Eigen3 REQUIRED) find_package(yaml-cpp REQUIRED) @@ -108,7 +108,7 @@ catkin_package( # LIBRARIES ur_calibration CATKIN_DEPENDS roscpp - ur_rtde_driver + ur_robot_driver DEPENDS yaml-cpp ) diff --git a/ur_calibration/README.md b/ur_calibration/README.md index f1fb47d..1684a6a 100644 --- a/ur_calibration/README.md +++ b/ur_calibration/README.md @@ -31,7 +31,7 @@ exist) ```bash # Replace your actual catkin_ws folder $ cd /src -$ catkin_create_pkg example_organization_ur_launch ur_rtde_driver \ +$ catkin_create_pkg example_organization_ur_launch ur_robot_driver \ -D "Package containing calibrations and launch files for our UR robots." # Create a skeleton package $ mkdir -p example_organization_ur_launch/etc @@ -53,7 +53,7 @@ respective launchfile in the driver: ```bash # Replace your actual catkin_ws folder $ cd /src/example_organization_ur_launch/launch -$ roscp ur_rtde_driver ur10_bringup.launch ex-ur10-1.launch +$ roscp ur_robot_driver ur10_bringup.launch ex-ur10-1.launch ``` Next, modify the parameter section of the new launchfile to match your actual calibration: diff --git a/ur_calibration/include/ur_calibration/calibration_consumer.h b/ur_calibration/include/ur_calibration/calibration_consumer.h index 5f2793c..8491d1b 100644 --- a/ur_calibration/include/ur_calibration/calibration_consumer.h +++ b/ur_calibration/include/ur_calibration/calibration_consumer.h @@ -27,9 +27,9 @@ #ifndef UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED #define UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED -#include +#include -#include +#include #include diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml index a10529f..96aeba8 100644 --- a/ur_calibration/package.xml +++ b/ur_calibration/package.xml @@ -51,7 +51,7 @@ catkin eigen roscpp - ur_rtde_driver + ur_robot_driver yaml-cpp diff --git a/ur_calibration/src/calibration_correction.cpp b/ur_calibration/src/calibration_correction.cpp index 986ef1e..e779c3e 100644 --- a/ur_calibration/src/calibration_correction.cpp +++ b/ur_calibration/src/calibration_correction.cpp @@ -27,12 +27,12 @@ #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include diff --git a/ur_rtde_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst similarity index 100% rename from ur_rtde_driver/CHANGELOG.rst rename to ur_robot_driver/CHANGELOG.rst diff --git a/ur_rtde_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt similarity index 85% rename from ur_rtde_driver/CMakeLists.txt rename to ur_robot_driver/CMakeLists.txt index c522c8b..42b1a0f 100644 --- a/ur_rtde_driver/CMakeLists.txt +++ b/ur_robot_driver/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.12) -project(ur_rtde_driver) +project(ur_robot_driver) add_definitions( -DROS_BUILD ) @@ -32,7 +32,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES - ur_rtde_driver + ur_robot_driver CATKIN_DEPENDS actionlib control_msgs @@ -76,7 +76,7 @@ include_directories( ${Boost_INCLUDE_DIRS} ) -add_library(ur_rtde_driver +add_library(ur_robot_driver src/comm/tcp_socket.cpp src/comm/server.cpp #src/ros/service_stopper.cpp @@ -103,18 +103,18 @@ add_library(ur_rtde_driver src/ur/tool_communication.cpp src/rtde/rtde_writer.cpp ) -target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES}) -add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(ur_robot_driver ${catkin_LIBRARIES}) +add_dependencies(ur_robot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -add_executable(ur_rtde_driver_node +add_executable(ur_robot_driver_node src/ros/hardware_interface.cpp src/ros/hardware_interface_node.cpp ) -target_link_libraries(ur_rtde_driver_node ${catkin_LIBRARIES} ur_rtde_driver) -add_dependencies(ur_rtde_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_robot_driver) +add_dependencies(ur_robot_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -install(TARGETS ur_rtde_driver ur_rtde_driver_node +install(TARGETS ur_robot_driver ur_robot_driver_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ur_rtde_driver/LICENSE b/ur_robot_driver/LICENSE similarity index 100% rename from ur_rtde_driver/LICENSE rename to ur_robot_driver/LICENSE diff --git a/ur_rtde_driver/README.md b/ur_robot_driver/README.md similarity index 99% rename from ur_rtde_driver/README.md rename to ur_robot_driver/README.md index 4272fc1..337a1a9 100644 --- a/ur_rtde_driver/README.md +++ b/ur_robot_driver/README.md @@ -1,4 +1,4 @@ -# ur_rtde_driver +# ur_robot_driver This package contains the actual driver for UR robots. It is part of the *universal_robots_driver* repository and requires other packages from that repository. Also, see the [main repository's diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_robot_driver/config/ur10_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur10_controllers.yaml rename to ur_robot_driver/config/ur10_controllers.yaml diff --git a/ur_rtde_driver/config/ur10e_controllers.yaml b/ur_robot_driver/config/ur10e_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur10e_controllers.yaml rename to ur_robot_driver/config/ur10e_controllers.yaml diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur3_controllers.yaml rename to ur_robot_driver/config/ur3_controllers.yaml diff --git a/ur_rtde_driver/config/ur3e_controllers.yaml b/ur_robot_driver/config/ur3e_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur3e_controllers.yaml rename to ur_robot_driver/config/ur3e_controllers.yaml diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_robot_driver/config/ur5_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur5_controllers.yaml rename to ur_robot_driver/config/ur5_controllers.yaml diff --git a/ur_rtde_driver/config/ur5e_controllers.yaml b/ur_robot_driver/config/ur5e_controllers.yaml similarity index 100% rename from ur_rtde_driver/config/ur5e_controllers.yaml rename to ur_robot_driver/config/ur5e_controllers.yaml diff --git a/ur_rtde_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md similarity index 96% rename from ur_rtde_driver/doc/ROS_INTERFACE.md rename to ur_robot_driver/doc/ROS_INTERFACE.md index 0b7b59c..d7d0836 100644 --- a/ur_rtde_driver/doc/ROS_INTERFACE.md +++ b/ur_robot_driver/doc/ROS_INTERFACE.md @@ -1,4 +1,4 @@ -# ur_rtde_driver +# ur_robot_driver The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series. @@ -8,7 +8,7 @@ The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controller Standalone launchfile to startup a ur3e. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur3e_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3e_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -89,7 +89,7 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n Standalone launchfile to startup a ur10 robot. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur10_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -162,11 +162,11 @@ Robot bringup launchfile without the robot description. Include this, if you wan IP address by which the robot can be reached. - * "**rtde_input_recipe_file**" (default: "$(find ur_rtde_driver)/resources/rtde_input_recipe.txt") + * "**rtde_input_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_input_recipe.txt") Recipe file used for the RTDE-inputs. Only change this if you know what you're doing. - * "**rtde_output_recipe_file**" (default: "$(find ur_rtde_driver)/resources/rtde_output_recipe.txt") + * "**rtde_output_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_output_recipe.txt") Recipe file used for the RTDE-outputs. Only change this if you know what you're doing. @@ -210,7 +210,7 @@ Robot bringup launchfile without the robot description. Include this, if you wan Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - * "**urscript_file**" (default: "$(find ur_rtde_driver)/resources/servoj.urscript") + * "**urscript_file**" (default: "$(find ur_robot_driver)/resources/servoj.urscript") Path to URScript that will be sent to the robot and that forms the main control program. @@ -304,7 +304,7 @@ Launchfile that starts a robot description with robot_state publisher and the dr Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur5_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -349,7 +349,7 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi Standalone launchfile to startup a ur5e robot. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur5e_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5e_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -430,7 +430,7 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur3_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -475,7 +475,7 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi Standalone launchfile to startup a ur10e robot. This requires a robot reachable via a network connection. #### Arguments - * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur10e_controllers.yaml") + * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10e_controllers.yaml") Config file used for defining the ROS-Control controllers. @@ -552,7 +552,7 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable On e-Series robots tool communication can be enabled with this argument ## Nodes -### ur_rtde_driver_node +### ur_robot_driver_node This is the actual driver node containing the ROS-Control stack. Interfaces documented here refer to the robot's hardware interface. Controller-specific API elements might be present for the individual controllers outside of this package. diff --git a/ur_rtde_driver/doc/architecture_coarse.svg b/ur_robot_driver/doc/architecture_coarse.svg similarity index 100% rename from ur_rtde_driver/doc/architecture_coarse.svg rename to ur_robot_driver/doc/architecture_coarse.svg diff --git a/ur_rtde_driver/doc/features.md b/ur_robot_driver/doc/features.md similarity index 100% rename from ur_rtde_driver/doc/features.md rename to ur_robot_driver/doc/features.md diff --git a/ur_rtde_driver/doc/initial_setup_images/cb3_01_welcome.png b/ur_robot_driver/doc/initial_setup_images/cb3_01_welcome.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/cb3_01_welcome.png rename to ur_robot_driver/doc/initial_setup_images/cb3_01_welcome.png diff --git a/ur_rtde_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png b/ur_robot_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png rename to ur_robot_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png diff --git a/ur_rtde_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png b/ur_robot_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png rename to ur_robot_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png diff --git a/ur_rtde_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png b/ur_robot_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png rename to ur_robot_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png diff --git a/ur_rtde_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png b/ur_robot_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png rename to ur_robot_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png diff --git a/ur_rtde_driver/doc/initial_setup_images/e-Series.png b/ur_robot_driver/doc/initial_setup_images/e-Series.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/e-Series.png rename to ur_robot_driver/doc/initial_setup_images/e-Series.png diff --git a/ur_rtde_driver/doc/initial_setup_images/es_01_welcome.png b/ur_robot_driver/doc/initial_setup_images/es_01_welcome.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/es_01_welcome.png rename to ur_robot_driver/doc/initial_setup_images/es_01_welcome.png diff --git a/ur_rtde_driver/doc/initial_setup_images/es_05_urcaps_installed.png b/ur_robot_driver/doc/initial_setup_images/es_05_urcaps_installed.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/es_05_urcaps_installed.png rename to ur_robot_driver/doc/initial_setup_images/es_05_urcaps_installed.png diff --git a/ur_rtde_driver/doc/initial_setup_images/es_07_installation_excontrol.png b/ur_robot_driver/doc/initial_setup_images/es_07_installation_excontrol.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/es_07_installation_excontrol.png rename to ur_robot_driver/doc/initial_setup_images/es_07_installation_excontrol.png diff --git a/ur_rtde_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png b/ur_robot_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png rename to ur_robot_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png diff --git a/ur_rtde_driver/doc/initial_setup_images/es_11_program_view_excontrol.png b/ur_robot_driver/doc/initial_setup_images/es_11_program_view_excontrol.png similarity index 100% rename from ur_rtde_driver/doc/initial_setup_images/es_11_program_view_excontrol.png rename to ur_robot_driver/doc/initial_setup_images/es_11_program_view_excontrol.png diff --git a/ur_rtde_driver/doc/install_urcap_cb3.md b/ur_robot_driver/doc/install_urcap_cb3.md similarity index 96% rename from ur_rtde_driver/doc/install_urcap_cb3.md rename to ur_robot_driver/doc/install_urcap_cb3.md index 8d5d1d2..f327f1d 100644 --- a/ur_rtde_driver/doc/install_urcap_cb3.md +++ b/ur_robot_driver/doc/install_urcap_cb3.md @@ -1,6 +1,6 @@ # Installing a URCap on a CB3 robot -For using the *ur_rtde_driver* with a real robot you need to install the +For using the *ur_robot_driver* with a real robot you need to install the **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver. **Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary. diff --git a/ur_rtde_driver/doc/install_urcap_e_series.md b/ur_robot_driver/doc/install_urcap_e_series.md similarity index 96% rename from ur_rtde_driver/doc/install_urcap_e_series.md rename to ur_robot_driver/doc/install_urcap_e_series.md index c745319..078006f 100644 --- a/ur_rtde_driver/doc/install_urcap_e_series.md +++ b/ur_robot_driver/doc/install_urcap_e_series.md @@ -1,6 +1,6 @@ # Installing a URCap on a s-Series robot -For using the *ur_rtde_driver* with a real robot you need to install the +For using the *ur_robot_driver* with a real robot you need to install the **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver. **Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary. diff --git a/ur_rtde_driver/doc/real_time.md b/ur_robot_driver/doc/real_time.md similarity index 100% rename from ur_rtde_driver/doc/real_time.md rename to ur_robot_driver/doc/real_time.md diff --git a/ur_rtde_driver/doc/rosdoc.yaml b/ur_robot_driver/doc/rosdoc.yaml similarity index 100% rename from ur_rtde_driver/doc/rosdoc.yaml rename to ur_robot_driver/doc/rosdoc.yaml diff --git a/ur_rtde_driver/doc/setup_tool_communication.md b/ur_robot_driver/doc/setup_tool_communication.md similarity index 97% rename from ur_rtde_driver/doc/setup_tool_communication.md rename to ur_robot_driver/doc/setup_tool_communication.md index 143f0ea..d4aeeea 100644 --- a/ur_rtde_driver/doc/setup_tool_communication.md +++ b/ur_robot_driver/doc/setup_tool_communication.md @@ -20,7 +20,7 @@ In order to use the tool communication in ROS, simply pass the correct parameter launch files: ```bash -$ roslaunch ur_rtde_driver ur<3|5|10>e_bringup.launch \ +$ roslaunch ur_robot_driver ur<3|5|10>e_bringup.launch \ use_tool_communication:=true \ tool_voltage:=24 \ # can be 0, 12 or 24 tool_parity:=0 \ # 0: none, 1: odd, 2: even diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h b/ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h rename to ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h index 9695c06..b1680b7 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h @@ -29,9 +29,9 @@ #include #include #include -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/types.h" -#include "ur_rtde_driver/exceptions.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/types.h" +#include "ur_robot_driver/exceptions.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h b/ur_robot_driver/include/ur_robot_driver/comm/package.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/comm/package.h rename to ur_robot_driver/include/ur_robot_driver/comm/package.h index 5f2af64..87e37fa 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/package.h @@ -27,7 +27,7 @@ #ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED #define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED -#include "ur_rtde_driver/comm/bin_parser.h" +#include "ur_robot_driver/comm/bin_parser.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h b/ur_robot_driver/include/ur_robot_driver/comm/package_serializer.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h rename to ur_robot_driver/include/ur_robot_driver/comm/package_serializer.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h b/ur_robot_driver/include/ur_robot_driver/comm/parser.h similarity index 94% rename from ur_rtde_driver/include/ur_rtde_driver/comm/parser.h rename to ur_robot_driver/include/ur_robot_driver/comm/parser.h index 8b0cab3..1558159 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/parser.h @@ -20,8 +20,8 @@ #pragma once #include -#include "ur_rtde_driver/comm/bin_parser.h" -#include "ur_rtde_driver/comm/package.h" +#include "ur_robot_driver/comm/bin_parser.h" +#include "ur_robot_driver/comm/package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h b/ur_robot_driver/include/ur_robot_driver/comm/pipeline.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h rename to ur_robot_driver/include/ur_robot_driver/comm/pipeline.h index fa75d0b..5fdefc8 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/pipeline.h @@ -20,9 +20,9 @@ #pragma once -#include "ur_rtde_driver/comm/package.h" -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/queue/readerwriterqueue.h" +#include "ur_robot_driver/comm/package.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/queue/readerwriterqueue.h" #include #include #include diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h b/ur_robot_driver/include/ur_robot_driver/comm/producer.h similarity index 93% rename from ur_rtde_driver/include/ur_rtde_driver/comm/producer.h rename to ur_robot_driver/include/ur_robot_driver/comm/producer.h index a1f871f..82edc99 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/producer.h @@ -20,11 +20,11 @@ #pragma once #include -#include "ur_rtde_driver/comm/pipeline.h" -#include "ur_rtde_driver/comm/parser.h" -#include "ur_rtde_driver/comm/stream.h" -#include "ur_rtde_driver/comm/package.h" -#include "ur_rtde_driver/exceptions.h" +#include "ur_robot_driver/comm/pipeline.h" +#include "ur_robot_driver/comm/parser.h" +#include "ur_robot_driver/comm/stream.h" +#include "ur_robot_driver/comm/package.h" +#include "ur_robot_driver/exceptions.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h b/ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h rename to ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h index 7926de7..3bbcc27 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED #define UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED -#include "ur_rtde_driver/comm/server.h" -#include "ur_rtde_driver/types.h" +#include "ur_robot_driver/comm/server.h" +#include "ur_robot_driver/types.h" #include #include diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h b/ur_robot_driver/include/ur_robot_driver/comm/script_sender.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h rename to ur_robot_driver/include/ur_robot_driver/comm/script_sender.h index 3551657..7737d3b 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/script_sender.h @@ -29,8 +29,8 @@ #ifndef UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED #define UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED -#include "ur_rtde_driver/comm/server.h" -#include "ur_rtde_driver/log.h" +#include "ur_robot_driver/comm/server.h" +#include "ur_robot_driver/log.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/server.h b/ur_robot_driver/include/ur_robot_driver/comm/server.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/comm/server.h rename to ur_robot_driver/include/ur_robot_driver/comm/server.h index 9381cb4..185d0d0 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/server.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/server.h @@ -26,7 +26,7 @@ #include #include #include -#include "ur_rtde_driver/comm/tcp_socket.h" +#include "ur_robot_driver/comm/tcp_socket.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h b/ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h similarity index 94% rename from ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h rename to ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h index f6c6725..866bfe4 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h @@ -28,9 +28,9 @@ #ifndef UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED #define UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/comm/pipeline.h" -#include "ur_rtde_driver/comm/package.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/comm/pipeline.h" +#include "ur_robot_driver/comm/package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h b/ur_robot_driver/include/ur_robot_driver/comm/stream.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/comm/stream.h rename to ur_robot_driver/include/ur_robot_driver/comm/stream.h index b4347f7..7948ebb 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h +++ b/ur_robot_driver/include/ur_robot_driver/comm/stream.h @@ -25,8 +25,8 @@ #include #include #include -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/comm/tcp_socket.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/comm/tcp_socket.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h b/ur_robot_driver/include/ur_robot_driver/comm/tcp_socket.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h rename to ur_robot_driver/include/ur_robot_driver/comm/tcp_socket.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h b/ur_robot_driver/include/ur_robot_driver/exceptions.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/exceptions.h rename to ur_robot_driver/include/ur_robot_driver/exceptions.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/log.h b/ur_robot_driver/include/ur_robot_driver/log.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/log.h rename to ur_robot_driver/include/ur_robot_driver/log.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h b/ur_robot_driver/include/ur_robot_driver/primary/package_header.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h rename to ur_robot_driver/include/ur_robot_driver/primary/package_header.h index 3353059..053af8c 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/package_header.h @@ -32,7 +32,7 @@ #include #include #include -#include "ur_rtde_driver/types.h" +#include "ur_robot_driver/types.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h b/ur_robot_driver/include/ur_robot_driver/primary/primary_package.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h rename to ur_robot_driver/include/ur_robot_driver/primary/primary_package.h index 6848d97..bab29c3 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/primary_package.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED #define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED -#include "ur_rtde_driver/primary/package_header.h" -#include "ur_rtde_driver/comm/package.h" +#include "ur_robot_driver/primary/package_header.h" +#include "ur_robot_driver/comm/package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h b/ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h similarity index 90% rename from ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h rename to ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h index b4ceaa9..0d5f624 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h @@ -20,16 +20,16 @@ #pragma once #include -#include "ur_rtde_driver/comm/bin_parser.h" -#include "ur_rtde_driver/comm/pipeline.h" -#include "ur_rtde_driver/comm/parser.h" -#include "ur_rtde_driver/primary/package_header.h" -#include "ur_rtde_driver/primary/robot_state.h" -#include "ur_rtde_driver/primary/robot_message.h" -//#include "ur_rtde_driver/primary/robot_state/robot_mode_data.h" -#include "ur_rtde_driver/primary/robot_state/kinematics_info.h" -//#include "ur_rtde_driver/primary/robot_state/master_board.h" -#include "ur_rtde_driver/primary/robot_message/version_message.h" +#include "ur_robot_driver/comm/bin_parser.h" +#include "ur_robot_driver/comm/pipeline.h" +#include "ur_robot_driver/comm/parser.h" +#include "ur_robot_driver/primary/package_header.h" +#include "ur_robot_driver/primary/robot_state.h" +#include "ur_robot_driver/primary/robot_message.h" +//#include "ur_robot_driver/primary/robot_state/robot_mode_data.h" +#include "ur_robot_driver/primary/robot_state/kinematics_info.h" +//#include "ur_robot_driver/primary/robot_state/master_board.h" +#include "ur_robot_driver/primary/robot_message/version_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_message.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_message.h index 9f965e9..e728e25 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_message.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED #define UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED -#include "ur_rtde_driver/primary/primary_package.h" +#include "ur_robot_driver/primary/primary_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h index a8b4ec9..d1d2ce9 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED #define UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED -#include "ur_rtde_driver/primary/robot_message.h" +#include "ur_robot_driver/primary/robot_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_state.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_state.h index 9a2f648..c9ad165 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_state.h @@ -30,8 +30,8 @@ #include -#include "ur_rtde_driver/primary/primary_package.h" -#include "ur_rtde_driver/primary/package_header.h" +#include "ur_robot_driver/primary/primary_package.h" +#include "ur_robot_driver/primary/package_header.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h index 4597659..525bf0b 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED #define UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED -#include "ur_rtde_driver/types.h" -#include "ur_rtde_driver/primary/robot_state.h" +#include "ur_robot_driver/types.h" +#include "ur_robot_driver/primary/robot_state.h" namespace ur_driver { namespace primary_interface diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/master_board.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/master_board.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h index 1eebcdc..ab9f870 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/master_board.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h @@ -23,7 +23,7 @@ #include #include #include -#include "ur_rtde_driver/primary/robot_state.h" +#include "ur_robot_driver/primary/robot_state.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h rename to ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h index def1d04..cf35e19 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h +++ b/ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h @@ -29,7 +29,7 @@ #ifndef UR_RTDE_DRIBVER_ROBOT_MODE_DATA_H_INCLUDED #define UR_RTDE_DRIBVER_ROBOT_MODE_DATA_H_INCLUDED -#include "ur_rtde_driver/primary/robot_state.h" +#include "ur_robot_driver/primary/robot_state.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/queue/LICENSE.md b/ur_robot_driver/include/ur_robot_driver/queue/LICENSE.md similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/queue/LICENSE.md rename to ur_robot_driver/include/ur_robot_driver/queue/LICENSE.md diff --git a/ur_rtde_driver/include/ur_rtde_driver/queue/atomicops.h b/ur_robot_driver/include/ur_robot_driver/queue/atomicops.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/queue/atomicops.h rename to ur_robot_driver/include/ur_robot_driver/queue/atomicops.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/queue/readerwriterqueue.h b/ur_robot_driver/include/ur_robot_driver/queue/readerwriterqueue.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/queue/readerwriterqueue.h rename to ur_robot_driver/include/ur_robot_driver/queue/readerwriterqueue.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h similarity index 99% rename from ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h rename to ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h index c227aa7..fe01445 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h +++ b/ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h @@ -48,7 +48,7 @@ #include #include -#include "ur_rtde_driver/ur/ur_driver.h" +#include "ur_robot_driver/ur/ur_driver.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h rename to ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h index 2b3d6dc..b2e316a 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED #define UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/rtde_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h rename to ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h index 7b7b975..80c41ce 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED #define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/rtde_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h rename to ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h index 8a85b1b..709b2d3 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED #define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" -#include "ur_rtde_driver/rtde/package_header.h" +#include "ur_robot_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/package_header.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h rename to ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h index 12c45e9..4e1abf8 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED #define UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/rtde_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h b/ur_robot_driver/include/ur_robot_driver/rtde/data_package.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h rename to ur_robot_driver/include/ur_robot_driver/rtde/data_package.h index 1d562dd..7b0f8a1 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/data_package.h @@ -30,8 +30,8 @@ #include -#include "ur_rtde_driver/types.h" -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/types.h" +#include "ur_robot_driver/rtde/rtde_package.h" #include namespace ur_driver diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h b/ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h rename to ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h index 4791f6b..0573b7e 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED #define UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" -#include "ur_rtde_driver/ur/version_information.h" +#include "ur_robot_driver/rtde/rtde_package.h" +#include "ur_robot_driver/ur/version_information.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h b/ur_robot_driver/include/ur_robot_driver/rtde/package_header.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h rename to ur_robot_driver/include/ur_robot_driver/rtde/package_header.h index dc9c8f5..547deb3 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/package_header.h @@ -31,8 +31,8 @@ #include #include -#include "ur_rtde_driver/types.h" -#include "ur_rtde_driver/comm/package_serializer.h" +#include "ur_robot_driver/types.h" +#include "ur_robot_driver/comm/package_serializer.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h b/ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h rename to ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h index 515f2a1..cb4685e 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED #define UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" -#include "ur_rtde_driver/rtde/package_header.h" +#include "ur_robot_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/package_header.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h similarity index 88% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h rename to ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h index 99a699a..645e812 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h @@ -28,18 +28,18 @@ #ifndef UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED #define UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED -#include "ur_rtde_driver/comm/pipeline.h" -#include "ur_rtde_driver/rtde/package_header.h" -#include "ur_rtde_driver/rtde/rtde_package.h" -#include "ur_rtde_driver/comm/stream.h" -#include "ur_rtde_driver/rtde/rtde_parser.h" -#include "ur_rtde_driver/comm/producer.h" -#include "ur_rtde_driver/rtde/data_package.h" -#include "ur_rtde_driver/rtde/request_protocol_version.h" -#include "ur_rtde_driver/rtde/control_package_setup_outputs.h" -#include "ur_rtde_driver/rtde/control_package_start.h" -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/rtde/rtde_writer.h" +#include "ur_robot_driver/comm/pipeline.h" +#include "ur_robot_driver/rtde/package_header.h" +#include "ur_robot_driver/rtde/rtde_package.h" +#include "ur_robot_driver/comm/stream.h" +#include "ur_robot_driver/rtde/rtde_parser.h" +#include "ur_robot_driver/comm/producer.h" +#include "ur_robot_driver/rtde/data_package.h" +#include "ur_robot_driver/rtde/request_protocol_version.h" +#include "ur_robot_driver/rtde/control_package_setup_outputs.h" +#include "ur_robot_driver/rtde/control_package_start.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/rtde/rtde_writer.h" static const int UR_RTDE_PORT = 30004; static const std::string PIPELINE_NAME = "RTDE Data Pipeline"; diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h rename to ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h index f0533d5..d0328b5 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h @@ -28,8 +28,8 @@ #ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED #define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED -#include "ur_rtde_driver/rtde/package_header.h" -#include "ur_rtde_driver/comm/package.h" +#include "ur_robot_driver/rtde/package_header.h" +#include "ur_robot_driver/comm/package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h similarity index 86% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h rename to ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h index caac14b..13054bf 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h @@ -20,19 +20,19 @@ #pragma once #include -#include "ur_rtde_driver/comm/parser.h" -#include "ur_rtde_driver/comm/bin_parser.h" -#include "ur_rtde_driver/comm/pipeline.h" +#include "ur_robot_driver/comm/parser.h" +#include "ur_robot_driver/comm/bin_parser.h" +#include "ur_robot_driver/comm/pipeline.h" -#include "ur_rtde_driver/rtde/control_package_pause.h" -#include "ur_rtde_driver/rtde/control_package_setup_inputs.h" -#include "ur_rtde_driver/rtde/control_package_setup_outputs.h" -#include "ur_rtde_driver/rtde/control_package_start.h" -#include "ur_rtde_driver/rtde/data_package.h" -#include "ur_rtde_driver/rtde/get_urcontrol_version.h" -#include "ur_rtde_driver/rtde/package_header.h" -#include "ur_rtde_driver/rtde/request_protocol_version.h" -#include "ur_rtde_driver/rtde/text_message.h" +#include "ur_robot_driver/rtde/control_package_pause.h" +#include "ur_robot_driver/rtde/control_package_setup_inputs.h" +#include "ur_robot_driver/rtde/control_package_setup_outputs.h" +#include "ur_robot_driver/rtde/control_package_start.h" +#include "ur_robot_driver/rtde/data_package.h" +#include "ur_robot_driver/rtde/get_urcontrol_version.h" +#include "ur_robot_driver/rtde/package_header.h" +#include "ur_robot_driver/rtde/request_protocol_version.h" +#include "ur_robot_driver/rtde/text_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h similarity index 94% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h rename to ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h index 243cc76..2cb29f9 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h @@ -28,11 +28,11 @@ #ifndef UR_RTDE_DRIVER_RTDE_WRITER_H_INCLUDED #define UR_RTDE_DRIVER_RTDE_WRITER_H_INCLUDED -#include "ur_rtde_driver/rtde/package_header.h" -#include "ur_rtde_driver/rtde/rtde_package.h" -#include "ur_rtde_driver/rtde/data_package.h" -#include "ur_rtde_driver/comm/stream.h" -#include "ur_rtde_driver/queue/readerwriterqueue.h" +#include "ur_robot_driver/rtde/package_header.h" +#include "ur_robot_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/data_package.h" +#include "ur_robot_driver/comm/stream.h" +#include "ur_robot_driver/queue/readerwriterqueue.h" #include namespace ur_driver diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h b/ur_robot_driver/include/ur_robot_driver/rtde/text_message.h similarity index 98% rename from ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h rename to ur_robot_driver/include/ur_robot_driver/rtde/text_message.h index f230ed3..5f4add1 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h +++ b/ur_robot_driver/include/ur_robot_driver/rtde/text_message.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED #define UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/rtde_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/types.h b/ur_robot_driver/include/ur_robot_driver/types.h similarity index 100% rename from ur_rtde_driver/include/ur_rtde_driver/types.h rename to ur_robot_driver/include/ur_robot_driver/types.h diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h b/ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h similarity index 96% rename from ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h rename to ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h index 83f2ad7..0d5017b 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h +++ b/ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h @@ -27,9 +27,9 @@ #ifndef UR_RTDE_DRIVER_UR_CALIBRATION_CHECKER_H_INCLUDED #define UR_RTDE_DRIVER_UR_CALIBRATION_CHECKER_H_INCLUDED -#include +#include -#include +#include namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h b/ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h similarity index 99% rename from ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h rename to ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h index a2cdb9e..8fb6313 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h +++ b/ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h @@ -29,7 +29,7 @@ #ifndef UR_RTDE_DRIVER_UR_TOOL_COMMUNICATION_H_INCLUDED #define UR_RTDE_DRIVER_UR_TOOL_COMMUNICATION_H_INCLUDED -#include "ur_rtde_driver/types.h" +#include "ur_robot_driver/types.h" #include namespace ur_driver diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h b/ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h similarity index 95% rename from ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h rename to ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h index c820dbe..95ec1de 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h +++ b/ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h @@ -27,12 +27,12 @@ #ifndef UR_RTDE_DRIVER_UR_UR_DRIVER_H_INCLUDED #define UR_RTDE_DRIVER_UR_UR_DRIVER_H_INCLUDED -#include "ur_rtde_driver/rtde/rtde_client.h" -#include "ur_rtde_driver/comm/reverse_interface.h" -#include "ur_rtde_driver/comm/script_sender.h" -#include "ur_rtde_driver/ur/tool_communication.h" -#include "ur_rtde_driver/primary/robot_message/version_message.h" -#include "ur_rtde_driver/rtde/rtde_writer.h" +#include "ur_robot_driver/rtde/rtde_client.h" +#include "ur_robot_driver/comm/reverse_interface.h" +#include "ur_robot_driver/comm/script_sender.h" +#include "ur_robot_driver/ur/tool_communication.h" +#include "ur_robot_driver/primary/robot_message/version_message.h" +#include "ur_robot_driver/rtde/rtde_writer.h" namespace ur_driver { diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h b/ur_robot_driver/include/ur_robot_driver/ur/version_information.h similarity index 97% rename from ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h rename to ur_robot_driver/include/ur_robot_driver/ur/version_information.h index 7948d9c..71d51ae 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h +++ b/ur_robot_driver/include/ur_robot_driver/ur/version_information.h @@ -28,7 +28,7 @@ #ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED #define UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED -#include +#include namespace ur_driver { diff --git a/ur_rtde_driver/launch/ur10_bringup.launch b/ur_robot_driver/launch/ur10_bringup.launch similarity index 89% rename from ur_rtde_driver/launch/ur10_bringup.launch rename to ur_robot_driver/launch/ur10_bringup.launch index ec2f656..c68bef6 100644 --- a/ur_rtde_driver/launch/ur10_bringup.launch +++ b/ur_robot_driver/launch/ur10_bringup.launch @@ -5,13 +5,13 @@ - + - + diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_robot_driver/launch/ur10e_bringup.launch similarity index 94% rename from ur_rtde_driver/launch/ur10e_bringup.launch rename to ur_robot_driver/launch/ur10e_bringup.launch index 70d04c0..0340326 100644 --- a/ur_rtde_driver/launch/ur10e_bringup.launch +++ b/ur_robot_driver/launch/ur10e_bringup.launch @@ -6,7 +6,7 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/ur_rtde_driver/launch/ur3_bringup.launch b/ur_robot_driver/launch/ur3_bringup.launch similarity index 89% rename from ur_rtde_driver/launch/ur3_bringup.launch rename to ur_robot_driver/launch/ur3_bringup.launch index 0af8a92..7e33e38 100644 --- a/ur_rtde_driver/launch/ur3_bringup.launch +++ b/ur_robot_driver/launch/ur3_bringup.launch @@ -5,13 +5,13 @@ - + - + diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_robot_driver/launch/ur3e_bringup.launch similarity index 94% rename from ur_rtde_driver/launch/ur3e_bringup.launch rename to ur_robot_driver/launch/ur3e_bringup.launch index c5a5083..f862157 100644 --- a/ur_rtde_driver/launch/ur3e_bringup.launch +++ b/ur_robot_driver/launch/ur3e_bringup.launch @@ -5,7 +5,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/ur_rtde_driver/launch/ur5_bringup.launch b/ur_robot_driver/launch/ur5_bringup.launch similarity index 89% rename from ur_rtde_driver/launch/ur5_bringup.launch rename to ur_robot_driver/launch/ur5_bringup.launch index f06ef46..07680a1 100644 --- a/ur_rtde_driver/launch/ur5_bringup.launch +++ b/ur_robot_driver/launch/ur5_bringup.launch @@ -5,13 +5,13 @@ - + - + diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_robot_driver/launch/ur5e_bringup.launch similarity index 94% rename from ur_rtde_driver/launch/ur5e_bringup.launch rename to ur_robot_driver/launch/ur5e_bringup.launch index 08d0e5d..0573f86 100644 --- a/ur_rtde_driver/launch/ur5e_bringup.launch +++ b/ur_robot_driver/launch/ur5e_bringup.launch @@ -5,7 +5,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_robot_driver/launch/ur_common.launch similarity index 98% rename from ur_rtde_driver/launch/ur_common.launch rename to ur_robot_driver/launch/ur_common.launch index fe028ff..50f55c4 100644 --- a/ur_rtde_driver/launch/ur_common.launch +++ b/ur_robot_driver/launch/ur_common.launch @@ -29,7 +29,7 @@ - + diff --git a/ur_rtde_driver/launch/ur_control.launch b/ur_robot_driver/launch/ur_control.launch similarity index 85% rename from ur_rtde_driver/launch/ur_control.launch rename to ur_robot_driver/launch/ur_control.launch index 5881287..4fd775a 100644 --- a/ur_rtde_driver/launch/ur_control.launch +++ b/ur_robot_driver/launch/ur_control.launch @@ -13,9 +13,9 @@ - - - + + + @@ -27,7 +27,7 @@ - + @@ -46,7 +46,7 @@ - + diff --git a/ur_rtde_driver/package.xml b/ur_robot_driver/package.xml similarity index 86% rename from ur_rtde_driver/package.xml rename to ur_robot_driver/package.xml index 7cf7a0d..2c848db 100644 --- a/ur_rtde_driver/package.xml +++ b/ur_robot_driver/package.xml @@ -1,7 +1,7 @@ - ur_rtde_driver + ur_robot_driver 0.0.3 The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series. Thomas Timm Andersen @@ -14,9 +14,9 @@ BSD 2-clause Zlib - http://wiki.ros.org/ur_rtde_driver - https://github.com/ros-industrial/ur_rtde_driver/issues - https://github.com/ros-industrial/ur_rtde_driver + http://wiki.ros.org/ur_robot_driver + https://github.com/ros-industrial/ur_robot_driver/issues + https://github.com/ros-industrial/ur_robot_driver catkin diff --git a/ur_rtde_driver/resources/externalcontrol-1.0.1.urcap b/ur_robot_driver/resources/externalcontrol-1.0.1.urcap similarity index 100% rename from ur_rtde_driver/resources/externalcontrol-1.0.1.urcap rename to ur_robot_driver/resources/externalcontrol-1.0.1.urcap diff --git a/ur_rtde_driver/resources/rs485-1.0.urcap b/ur_robot_driver/resources/rs485-1.0.urcap similarity index 100% rename from ur_rtde_driver/resources/rs485-1.0.urcap rename to ur_robot_driver/resources/rs485-1.0.urcap diff --git a/ur_rtde_driver/resources/rtde_input_recipe.txt b/ur_robot_driver/resources/rtde_input_recipe.txt similarity index 100% rename from ur_rtde_driver/resources/rtde_input_recipe.txt rename to ur_robot_driver/resources/rtde_input_recipe.txt diff --git a/ur_rtde_driver/resources/rtde_output_recipe.txt b/ur_robot_driver/resources/rtde_output_recipe.txt similarity index 100% rename from ur_rtde_driver/resources/rtde_output_recipe.txt rename to ur_robot_driver/resources/rtde_output_recipe.txt diff --git a/ur_rtde_driver/resources/servoj.urscript b/ur_robot_driver/resources/servoj.urscript similarity index 100% rename from ur_rtde_driver/resources/servoj.urscript rename to ur_robot_driver/resources/servoj.urscript diff --git a/ur_rtde_driver/scripts/tool_communication b/ur_robot_driver/scripts/tool_communication similarity index 100% rename from ur_rtde_driver/scripts/tool_communication rename to ur_robot_driver/scripts/tool_communication diff --git a/ur_rtde_driver/src/comm/server.cpp b/ur_robot_driver/src/comm/server.cpp similarity index 97% rename from ur_rtde_driver/src/comm/server.cpp rename to ur_robot_driver/src/comm/server.cpp index e15e163..896747f 100644 --- a/ur_rtde_driver/src/comm/server.cpp +++ b/ur_robot_driver/src/comm/server.cpp @@ -20,12 +20,12 @@ * limitations under the License. */ -#include "ur_rtde_driver/comm/server.h" +#include "ur_robot_driver/comm/server.h" #include #include #include #include -#include "ur_rtde_driver/log.h" +#include "ur_robot_driver/log.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/comm/tcp_socket.cpp b/ur_robot_driver/src/comm/tcp_socket.cpp similarity index 98% rename from ur_rtde_driver/src/comm/tcp_socket.cpp rename to ur_robot_driver/src/comm/tcp_socket.cpp index 3bc19f8..df55944 100644 --- a/ur_rtde_driver/src/comm/tcp_socket.cpp +++ b/ur_robot_driver/src/comm/tcp_socket.cpp @@ -26,8 +26,8 @@ #include #include -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/comm/tcp_socket.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/comm/tcp_socket.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/primary/primary_package.cpp b/ur_robot_driver/src/primary/primary_package.cpp similarity index 96% rename from ur_rtde_driver/src/primary/primary_package.cpp rename to ur_robot_driver/src/primary/primary_package.cpp index f4b3d36..7fd4a42 100644 --- a/ur_rtde_driver/src/primary/primary_package.cpp +++ b/ur_robot_driver/src/primary/primary_package.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/primary/primary_package.h" +#include "ur_robot_driver/primary/primary_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/primary/robot_message.cpp b/ur_robot_driver/src/primary/robot_message.cpp similarity index 92% rename from ur_rtde_driver/src/primary/robot_message.cpp rename to ur_robot_driver/src/primary/robot_message.cpp index 2f17ee9..2bf98d4 100644 --- a/ur_rtde_driver/src/primary/robot_message.cpp +++ b/ur_robot_driver/src/primary/robot_message.cpp @@ -1,7 +1,7 @@ // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- // -- BEGIN LICENSE BLOCK ---------------------------------------------- -// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver) +// Copyright 2019 FZI Forschungszentrum Informatik (ur_robot_driver) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -24,7 +24,7 @@ * */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/primary/robot_message.h" +#include "ur_robot_driver/primary/robot_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/primary/robot_message/version_message.cpp b/ur_robot_driver/src/primary/robot_message/version_message.cpp similarity index 91% rename from ur_rtde_driver/src/primary/robot_message/version_message.cpp rename to ur_robot_driver/src/primary/robot_message/version_message.cpp index b2bba22..06460ab 100644 --- a/ur_rtde_driver/src/primary/robot_message/version_message.cpp +++ b/ur_robot_driver/src/primary/robot_message/version_message.cpp @@ -1,7 +1,7 @@ // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- // -- BEGIN LICENSE BLOCK ---------------------------------------------- -// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver) +// Copyright 2019 FZI Forschungszentrum Informatik (ur_robot_driver) // Copyright 2017, 2018 Simon Rasmussen (refactor) // // Copyright 2015, 2016 Thomas Timm Andersen (original version) @@ -28,8 +28,8 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/primary/robot_message/version_message.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/primary/robot_message/version_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp b/ur_robot_driver/src/primary/robot_state/kinematics_info.cpp similarity index 96% rename from ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp rename to ur_robot_driver/src/primary/robot_state/kinematics_info.cpp index 2dc0f9f..82e6fd2 100644 --- a/ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp +++ b/ur_robot_driver/src/primary/robot_state/kinematics_info.cpp @@ -25,8 +25,8 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/log.h" -#include "ur_rtde_driver/primary/robot_state/kinematics_info.h" +#include "ur_robot_driver/log.h" +#include "ur_robot_driver/primary/robot_state/kinematics_info.h" #include diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_robot_driver/src/ros/hardware_interface.cpp similarity index 99% rename from ur_rtde_driver/src/ros/hardware_interface.cpp rename to ur_robot_driver/src/ros/hardware_interface.cpp index 62c0637..7fd1eb5 100644 --- a/ur_rtde_driver/src/ros/hardware_interface.cpp +++ b/ur_robot_driver/src/ros/hardware_interface.cpp @@ -25,9 +25,9 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/ros/hardware_interface.h" -#include "ur_rtde_driver/ur/tool_communication.h" -#include +#include "ur_robot_driver/ros/hardware_interface.h" +#include "ur_robot_driver/ur/tool_communication.h" +#include #include @@ -306,7 +306,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h // Calling this service will make the "External Control" program node on the UR-Program return. deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this); - ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface"); + ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface"); return true; } diff --git a/ur_rtde_driver/src/ros/hardware_interface_node.cpp b/ur_robot_driver/src/ros/hardware_interface_node.cpp similarity index 98% rename from ur_rtde_driver/src/ros/hardware_interface_node.cpp rename to ur_robot_driver/src/ros/hardware_interface_node.cpp index 44614ad..4be290e 100644 --- a/ur_rtde_driver/src/ros/hardware_interface_node.cpp +++ b/ur_robot_driver/src/ros/hardware_interface_node.cpp @@ -28,7 +28,7 @@ #include #include -#include +#include std::unique_ptr g_hw_interface; diff --git a/ur_rtde_driver/src/rtde/control_package_pause.cpp b/ur_robot_driver/src/rtde/control_package_pause.cpp similarity index 96% rename from ur_rtde_driver/src/rtde/control_package_pause.cpp rename to ur_robot_driver/src/rtde/control_package_pause.cpp index 68888d7..1b40fce 100644 --- a/ur_rtde_driver/src/rtde/control_package_pause.cpp +++ b/ur_robot_driver/src/rtde/control_package_pause.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/control_package_pause.h" +#include "ur_robot_driver/rtde/control_package_pause.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp b/ur_robot_driver/src/rtde/control_package_setup_inputs.cpp similarity index 97% rename from ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp rename to ur_robot_driver/src/rtde/control_package_setup_inputs.cpp index 28b4362..d5eb339 100644 --- a/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp +++ b/ur_robot_driver/src/rtde/control_package_setup_inputs.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/control_package_setup_inputs.h" +#include "ur_robot_driver/rtde/control_package_setup_inputs.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp b/ur_robot_driver/src/rtde/control_package_setup_outputs.cpp similarity index 97% rename from ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp rename to ur_robot_driver/src/rtde/control_package_setup_outputs.cpp index e804046..425198d 100644 --- a/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp +++ b/ur_robot_driver/src/rtde/control_package_setup_outputs.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/control_package_setup_outputs.h" +#include "ur_robot_driver/rtde/control_package_setup_outputs.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/control_package_start.cpp b/ur_robot_driver/src/rtde/control_package_start.cpp similarity index 96% rename from ur_rtde_driver/src/rtde/control_package_start.cpp rename to ur_robot_driver/src/rtde/control_package_start.cpp index 8dc9dc7..83003d6 100644 --- a/ur_rtde_driver/src/rtde/control_package_start.cpp +++ b/ur_robot_driver/src/rtde/control_package_start.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/control_package_start.h" +#include "ur_robot_driver/rtde/control_package_start.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/data_package.cpp b/ur_robot_driver/src/rtde/data_package.cpp similarity index 99% rename from ur_rtde_driver/src/rtde/data_package.cpp rename to ur_robot_driver/src/rtde/data_package.cpp index 13b3246..310b69e 100644 --- a/ur_rtde_driver/src/rtde/data_package.cpp +++ b/ur_robot_driver/src/rtde/data_package.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/data_package.h" +#include "ur_robot_driver/rtde/data_package.h" namespace ur_driver { namespace rtde_interface diff --git a/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp b/ur_robot_driver/src/rtde/get_urcontrol_version.cpp similarity index 96% rename from ur_rtde_driver/src/rtde/get_urcontrol_version.cpp rename to ur_robot_driver/src/rtde/get_urcontrol_version.cpp index 2a80fe9..6ea69ae 100644 --- a/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp +++ b/ur_robot_driver/src/rtde/get_urcontrol_version.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/get_urcontrol_version.h" +#include "ur_robot_driver/rtde/get_urcontrol_version.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/request_protocol_version.cpp b/ur_robot_driver/src/rtde/request_protocol_version.cpp similarity index 96% rename from ur_rtde_driver/src/rtde/request_protocol_version.cpp rename to ur_robot_driver/src/rtde/request_protocol_version.cpp index e947390..9ad942e 100644 --- a/ur_rtde_driver/src/rtde/request_protocol_version.cpp +++ b/ur_robot_driver/src/rtde/request_protocol_version.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/request_protocol_version.h" +#include "ur_robot_driver/rtde/request_protocol_version.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/rtde_client.cpp b/ur_robot_driver/src/rtde/rtde_client.cpp similarity index 98% rename from ur_rtde_driver/src/rtde/rtde_client.cpp rename to ur_robot_driver/src/rtde/rtde_client.cpp index 7a2340a..a9d76a0 100644 --- a/ur_rtde_driver/src/rtde/rtde_client.cpp +++ b/ur_robot_driver/src/rtde/rtde_client.cpp @@ -25,8 +25,8 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/rtde_client.h" -#include "ur_rtde_driver/exceptions.h" +#include "ur_robot_driver/rtde/rtde_client.h" +#include "ur_robot_driver/exceptions.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/rtde_package.cpp b/ur_robot_driver/src/rtde/rtde_package.cpp similarity index 97% rename from ur_rtde_driver/src/rtde/rtde_package.cpp rename to ur_robot_driver/src/rtde/rtde_package.cpp index 06dfa7a..e01fae6 100644 --- a/ur_rtde_driver/src/rtde/rtde_package.cpp +++ b/ur_robot_driver/src/rtde/rtde_package.cpp @@ -24,7 +24,7 @@ * */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/rtde_package.h" +#include "ur_robot_driver/rtde/rtde_package.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/rtde_writer.cpp b/ur_robot_driver/src/rtde/rtde_writer.cpp similarity index 99% rename from ur_rtde_driver/src/rtde/rtde_writer.cpp rename to ur_robot_driver/src/rtde/rtde_writer.cpp index 4f7fefe..e4c7927 100644 --- a/ur_rtde_driver/src/rtde/rtde_writer.cpp +++ b/ur_robot_driver/src/rtde/rtde_writer.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/rtde_writer.h" +#include "ur_robot_driver/rtde/rtde_writer.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/rtde/text_message.cpp b/ur_robot_driver/src/rtde/text_message.cpp similarity index 97% rename from ur_rtde_driver/src/rtde/text_message.cpp rename to ur_robot_driver/src/rtde/text_message.cpp index ee4d305..cf0719a 100644 --- a/ur_rtde_driver/src/rtde/text_message.cpp +++ b/ur_robot_driver/src/rtde/text_message.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/rtde/text_message.h" +#include "ur_robot_driver/rtde/text_message.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/ur/calibration_checker.cpp b/ur_robot_driver/src/ur/calibration_checker.cpp similarity index 96% rename from ur_rtde_driver/src/ur/calibration_checker.cpp rename to ur_robot_driver/src/ur/calibration_checker.cpp index 2337801..8f07f8a 100644 --- a/ur_rtde_driver/src/ur/calibration_checker.cpp +++ b/ur_robot_driver/src/ur/calibration_checker.cpp @@ -12,7 +12,7 @@ */ //---------------------------------------------------------------------- -#include +#include namespace ur_driver { diff --git a/ur_rtde_driver/src/ur/tool_communication.cpp b/ur_robot_driver/src/ur/tool_communication.cpp similarity index 96% rename from ur_rtde_driver/src/ur/tool_communication.cpp rename to ur_robot_driver/src/ur/tool_communication.cpp index fade5ea..ba6812c 100644 --- a/ur_rtde_driver/src/ur/tool_communication.cpp +++ b/ur_robot_driver/src/ur/tool_communication.cpp @@ -25,7 +25,7 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/ur/tool_communication.h" +#include "ur_robot_driver/ur/tool_communication.h" namespace ur_driver { diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_robot_driver/src/ur/ur_driver.cpp similarity index 98% rename from ur_rtde_driver/src/ur/ur_driver.cpp rename to ur_robot_driver/src/ur/ur_driver.cpp index 8894a17..2aa7803 100644 --- a/ur_rtde_driver/src/ur/ur_driver.cpp +++ b/ur_robot_driver/src/ur/ur_driver.cpp @@ -30,13 +30,13 @@ */ //---------------------------------------------------------------------- -#include "ur_rtde_driver/ur/ur_driver.h" -#include "ur_rtde_driver/exceptions.h" -#include "ur_rtde_driver/primary/primary_parser.h" +#include "ur_robot_driver/ur/ur_driver.h" +#include "ur_robot_driver/exceptions.h" +#include "ur_robot_driver/primary/primary_parser.h" #include #include -#include +#include namespace ur_driver {