Obbart/universal_robots_ros_driver
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moved reading of rtde values into separate function

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This commit is contained in:
Felix Mauch
2019-07-18 11:46:20 +02:00
parent e63de16225
commit 9a2d890c6d
2 changed files with 22 additions and 35 deletions
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3
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -97,6 +97,9 @@ protected:
bool stopControl(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
template <typename T>
void readData(const std::unique_ptr<rtde_interface::DataPackage>& data_pkg, const std::string& var_name, T& data);
std::unique_ptr<UrDriver> ur_driver_;
ros::ServiceServer deactivate_srv_;

54
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -193,46 +193,30 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
return true;
}
template <typename T>
void HardwareInterface::readData(const std::unique_ptr<rtde_interface::DataPackage>& data_pkg,
const std::string& var_name, T& data)
{
if (!data_pkg->getData(var_name, data))
{
// This throwing should never happen unless misconfigured
std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
throw std::runtime_error(error_msg);
}
}
void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period)
{
std::unique_ptr<rtde_interface::DataPackage> data_pkg = ur_driver_->getDataPackage();
if (data_pkg)
{
if (!data_pkg->getData("actual_q", joint_positions_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find joint position in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("actual_qd", joint_velocities_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find joint velocity in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("target_speed_fraction", target_speed_fraction_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find target_speed_fraction_ in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("speed_scaling", speed_scaling_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("runtime_state", runtime_state_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("actual_TCP_force", fts_measurements_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find actual_TCP_force in data sent from robot. This should not happen!");
}
if (!data_pkg->getData("actual_TCP_pose", tcp_pose_))
{
// This throwing should never happen unless misconfigured
throw std::runtime_error("Did not find actual_TCP_pose in data sent from robot. This should not happen!");
}
readData(data_pkg, "actual_q", joint_positions_);
readData(data_pkg, "actual_qd", joint_velocities_);
readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
readData(data_pkg, "speed_scaling", speed_scaling_);
readData(data_pkg, "runtime_state", runtime_state_);
readData(data_pkg, "actual_TCP_force", fts_measurements_);
readData(data_pkg, "actual_TCP_pose", tcp_pose_);
// Transform fts measurements to tool frame
extractToolPose(time);