Obbart/universal_robots_ros_driver
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Read payload and max velocity from parameter server

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Thomas Timm Andersen
2015-09-10 14:02:10 +02:00
parent 017810c30f
commit 8bf9e356f5
3 changed files with 30 additions and 5 deletions
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2
include/ur_modern_driver/ur_driver.h
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@@ -29,7 +29,7 @@ public:
UrRealtimeCommunication* rt_interface_; UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host, UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12); unsigned int safety_count_max = 12, double max_time_step = 0.08, double max_vel = 10., double min_payload= 0., double max_payload=1.);
void start(); void start();
void halt(); void halt();

5
src/ur_driver.cpp
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@@ -12,9 +12,8 @@
#include "ur_modern_driver/ur_driver.h" #include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host, UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max) : unsigned int safety_count_max, double max_time_step, double max_vel, double min_payload, double max_payload ) :
maximum_time_step_(0.08), maximum_velocity_(10.0), minimum_payload_( maximum_time_step_(max_time_step), maximum_velocity_(max_vel), minimum_payload_(min_payload), maximum_payload_(max_payload) {
0.0), maximum_payload_(1.0) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host, rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max); safety_count_max);

28
src/ur_ros_wrapper.cpp
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@@ -48,7 +48,8 @@ protected:
public: public:
RosWrapper(std::string host) : RosWrapper(std::string host) :
as_(nh_, "follow_joint_trajectory", false), robot_(msg_cond_, host), io_flag_delay_(0.05) { as_(nh_, "follow_joint_trajectory", false), robot_(msg_cond_, host), io_flag_delay_(
0.05) {
std::string joint_prefix = ""; std::string joint_prefix = "";
std::vector<std::string> joint_names; std::vector<std::string> joint_names;
@@ -64,6 +65,31 @@ public:
joint_names.push_back(joint_prefix + "wrist_3_joint"); joint_names.push_back(joint_prefix + "wrist_3_joint");
robot_.setJointNames(joint_names); robot_.setJointNames(joint_names);
{ //Using a very high value in order to not limit execution of trajectories being sent from MoveIt!
double max_velocity = 10.;
if (ros::param::get("~max_velocity", max_velocity)) {
ROS_INFO(
"Max velocity accepted by ur_driver: %f [rad/s]", max_velocity);
robot_.setMaxVel(max_velocity);
}
}
{ //Bounds for SetPayload service
//Using a very conservative value as it should be set through the parameter server
double min_payload = 0.;
double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) {
ROS_INFO(
"Min payload accepted by ur_driver: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_INFO(
"Max payload accepted by ur_driver: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
ROS_INFO("Bounds for set_payload service calls: [%f, %f]", min_payload, max_payload);
}
robot_.start(); robot_.start();
//register the goal and feedback callbacks //register the goal and feedback callbacks