Obbart/universal_robots_ros_driver
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added RTDE writer class and required interfaces for use in the hardware interface

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This commit is contained in:
Tristan Schnell
2019-07-25 18:30:28 +02:00
parent da53c3b45c
commit 8bacdc0fe1
13 changed files with 208 additions and 18 deletions
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10
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -47,7 +47,8 @@ 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,
const std::string& recipe_file, std::function<void(bool)> handle_program_state,
const std::string& output_recipe_file, const std::string& input_recipe_file,
std::function<void(bool)> handle_program_state,
std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum)
: servoj_time_(0.008)
, servoj_gain_(2000)
@@ -58,7 +59,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
{
LOG_DEBUG("Initializing urdriver");
LOG_DEBUG("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, recipe_file));
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, output_recipe_file, input_recipe_file));
LOG_INFO("Checking if calibration data matches connected robot.");
checkCalibration(calibration_checksum);
@@ -234,4 +235,9 @@ void UrDriver::checkCalibration(const std::string& checksum)
ROS_DEBUG_STREAM("Got calibration information from robot.");
}
rtde_interface::RTDEWriter& UrDriver::getRTDEWriter()
{
return rtde_client_->getWriter();
}
} // namespace ur_driver