Obbart/universal_robots_ros_driver
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added ROS service to resend robot program

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This commit is contained in:
Tristan Schnell
2019-09-26 12:32:00 +02:00
committed by Felix Mauch
parent ea0908ed58
commit 888db15012
2 changed files with 23 additions and 0 deletions
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2
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -184,6 +184,7 @@ protected:
bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
void commandCallback(const std_msgs::StringConstPtr& msg);
std::unique_ptr<UrDriver> ur_driver_;
@@ -229,6 +230,7 @@ protected:
ros::ServiceServer set_speed_slider_srv_;
ros::ServiceServer set_io_srv_;
ros::ServiceServer resend_robot_program_srv_;
ros::Subscriber command_sub_;
uint32_t runtime_state_;

21
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -294,6 +294,12 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
// Service to set any of the robot's IOs
set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, this);
if (headless_mode)
{
resend_robot_program_srv_ =
robot_hw_nh.advertiseService("resend_robot_program", &HardwareInterface::resendRobotProgram, this);
}
// 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);
@@ -657,6 +663,21 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse
return true;
}
bool HardwareInterface::resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
res.success = ur_driver_->sendRobotProgram();
if (res.success)
{
res.message = "Successfully resent robot program";
}
else
{
res.message = "Could not resend robot program";
}
return true;
}
void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
{
std::string str = msg->data;