Obbart/universal_robots_ros_driver
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Code Releases Activity

Fixed a bug related to malformed RT messages in 3.0.

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updated readme
This commit is contained in:
Thomas Timm Andersen
2015-09-16 16:14:51 +02:00
parent 61dac1e977
commit 834136a997
4 changed files with 38 additions and 14 deletions
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27
README.md
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@@ -16,5 +16,32 @@ The driver is designed to be a drop-in replacement of the ur\_driver package. It
Just use the modified launch files included in this package instead of those in ur\_bringup. Everything else should work as usual.
---
__Improvements__
The driver exposes the same functionality as the previous ur\_driver:
*Action interface on _/follow\_joint\_trajectory_ for seamless integration with MoveIt
*Publishes robot joint state on _/joint\_states_
*Publishes TCP force on state on _/wrench_
*Publishes IO states state on _/io\_states_
*Service call to set outputs and payload (Note: I am not sure if setting the payload actually works, as the robot GUI does not update. This is also true for the old ur\_driver )
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
*/joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.
This driver is written in c++, which should make it possible to integrate it with ros_control. If you fell like undertaking this task, please dive right in. I don't have the posibility to do this.
No script is sent to the robot. This means that the teach pendant can be used to move the robot around while the driver is running.
---
Should be compatible with all robots and control boxes with the newest firmware.
Tested with:
*Simulated UR3 running 3.1.18024
*Real UR10 with CB2 running 1.8.14035
*Real UR5 with CB2 running 1.8.14035

1
include/ur_modern_driver/robot_state_RT.h
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@@ -17,6 +17,7 @@
#include <stdlib.h>
#include <string.h>
#include <mutex>
#include <netinet/in.h>
#include <condition_variable>
class RobotStateRT {

22
src/robot_state_RT.cpp
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@@ -299,20 +299,16 @@ void RobotStateRT::unpack(uint8_t * buf) {
uint64_t unpack_to;
uint16_t offset = 0;
val_lock_.lock();
if (version_ == 0.0) {
uint32_t len;
memcpy(&len, &buf[offset], sizeof(len));
if (len <= 756) {
version_ = 1.6;
} else if (len <= 764) {
version_ = 1.7;
} else if (len <= 812) {
version_ = 1.8;
} else if (len <= 1044) {
version_ = 3.0;
}
int len;
memcpy(&len, &buf[offset], sizeof(len));
offset += sizeof(len);
len = ntohl(len);
if (len > 1500) {
//In 3.0, every 3rd? package is malformed...?
val_lock_.unlock();
return;
}
offset += 4;
memcpy(&unpack_to, &buf[offset], sizeof(unpack_to));
time_ = RobotStateRT::ntohd(unpack_to);
offset += sizeof(double);

2
src/ur_communication.cpp
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@@ -98,7 +98,7 @@ void UrCommunication::start() {
//wait for some traffic so the UR socket doesn't die in version 3.1.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
#ifdef ROS_BUILD
ROS_DEBUG("Firmware version detected: %f", robot_state_->getVersion());
ROS_INFO("Firmware version detected: %f", robot_state_->getVersion());
#else
printf("Firmware version detected: %f\n", robot_state_->getVersion());
#endif