Obbart/universal_robots_ros_driver
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Added documentation on ROS interfaces

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This commit is contained in:
Felix Mauch
2019-09-23 15:35:30 +02:00
parent cdade35e33
commit 9662f2b8ba
1 changed files with 68 additions and 2 deletions
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70
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -53,33 +53,50 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
{
joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } };
joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
robot_ip_ = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
std::string script_filename;
std::string output_recipe_filename;
std::string input_recipe_filename;
// The robot's IP address. This parameter is required.
if (!robot_hw_nh.getParam("robot_ip", robot_ip_))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("robot_ip_") << " not given.");
return false;
}
// Path to the urscript code that will be sent to the robot. This is a required parameter.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("script_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE outputs. This is a required
// parameter.
if (!robot_hw_nh.getParam("output_recipe_file", output_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("output_recipe_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE inputs. This is a required
// parameter.
if (!robot_hw_nh.getParam("input_recipe_file", input_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("input_recipe_file") << " not given.");
return false;
}
std::string tf_prefix = robot_hw_nh.param<std::string>("tf_prefix", "");
// Whenever the runtime state of the "External Control" program node in the UR-program changes, a
// message gets published here. So this is equivalent to the information whether the robot accepts
// commands from ROS side.
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
tcp_transform_.header.frame_id = "base";
tcp_transform_.child_frame_id = "tool0_controller";
// Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on
// e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as
// well.
bool use_tool_communication = robot_hw_nh.param<bool>("use_tool_communication", "false");
std::unique_ptr<ToolCommSetup> tool_comm_setup;
if (use_tool_communication)
@@ -88,6 +105,9 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
using ToolVoltageT = std::underlying_type<ToolVoltage>::type;
ToolVoltageT tool_voltage;
// Tool voltage that will be set as soon as the UR-Program on the robot is started. Note: This
// parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE.
// Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_voltage", tool_voltage))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_voltage") << " not given.");
@@ -97,6 +117,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
using ParityT = std::underlying_type<Parity>::type;
ParityT parity;
// Parity used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. Can be 0 (None), 1 (odd) and 2 (even).
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_parity", parity))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_parity") << " not given.");
@@ -104,6 +129,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
}
int baud_rate;
// Baud rate used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. See UR documentation for valid baud rates.
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_baud_rate", baud_rate))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_baud_rate") << " not given.");
@@ -112,6 +142,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tool_comm_setup->setBaudRate(baud_rate);
int stop_bits;
// Number of stop bits used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. Can be 1 or 2.
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_stop_bits", stop_bits))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_stop_bits") << " not given.");
@@ -120,6 +155,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tool_comm_setup->setStopBits(stop_bits);
int rx_idle_chars;
// Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=1.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_rx_idle_chars", rx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_rx_idle_chars") << " not given.");
@@ -129,6 +169,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tool_comm_setup->setParity(static_cast<Parity>(parity));
int tx_idle_chars;
// Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=0.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_tx_idle_chars", tx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_tx_idle_chars") << " not given.");
@@ -137,6 +182,11 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tool_comm_setup->setTxIdleChars(tx_idle_chars);
}
// Hash of the calibration reported by the robot. This is used for validating the robot
// description is using the correct calibration. If the robot's calibration doesn't match this
// hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the
// endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your
// own hash matching your actual robot.
std::string calibration_checksum = robot_hw_nh.param<std::string>("kinematics/hash", "");
ROS_INFO_STREAM("Initializing urdriver");
try
@@ -155,8 +205,18 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ROS_FATAL_STREAM(e.what());
return false;
}
// Send arbitrary script commands to this topic. Note: On e-Series the robot has to be in
// remote-control mode.
//
// Sending scripts to this will stop program execution unless wrapped in a secondary program:
//
// sec myProgram():
// set_digital_out(0, True)
// end
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
// Names of the joints. Usually, this is given in the controller config file.
if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{
ROS_ERROR_STREAM("Cannot find required parameter " << root_nh.resolveName("hardware_interface/joints")
@@ -217,9 +277,15 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
}
tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));
// Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1.
// Only set this smaller than 1 if you are using the scaled controllers (as by default) or you know what you're
// doing. Using this with other controllers might lead to unexpected behaviors.
set_speed_slider_srv_ = robot_hw_nh.advertiseService("set_speed_slider", &HardwareInterface::setSpeedSlider, this);
// Service to set any of the robot's IOs
set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, 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);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");