Obbart/universal_robots_ros_driver
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added handling of protocol-version 1 and CB3 robots

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This commit is contained in:
Tristan Schnell
2019-04-17 16:53:39 +02:00
parent 736cd36940
commit 9bafd44687
6 changed files with 82 additions and 4 deletions
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2
include/ur_rtde_driver/rtde/control_package_setup_outputs.h
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@@ -57,6 +57,8 @@ public:
static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency,
std::vector<std::string> variable_names);
static size_t generateSerializedRequest(uint8_t* buffer, std::vector<std::string> variable_names);
double output_frequency_;
std::string variable_names_;

6
include/ur_rtde_driver/rtde/get_urcontrol_version.h
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@@ -54,6 +54,12 @@ class GetUrcontrolVersionRequest : public RTDEPackage
public:
GetUrcontrolVersionRequest() = default;
virtual ~GetUrcontrolVersionRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer);
private:
static const uint16_t PAYLOAD_SIZE = 0;
static const PackageType PACKAGE_TYPE = PackageType::RTDE_GET_URCONTROL_VERSION;
};
} // namespace rtde_interface

4
include/ur_rtde_driver/rtde/rtde_client.h
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@@ -38,6 +38,7 @@
#include "ur_rtde_driver/rtde/request_protocol_version.h"
#include "ur_rtde_driver/rtde/control_package_setup_outputs.h"
#include "ur_rtde_driver/rtde/control_package_start.h"
#include "ur_rtde_driver/log.h"
static const int UR_RTDE_PORT = 30004;
static const std::string PIPELINE_NAME = "RTDE Data Pipeline";
@@ -62,6 +63,9 @@ private:
comm::URProducer<PackageHeader> prod_;
comm::Pipeline<PackageHeader> pipeline_;
constexpr static const double CB3_MAX_FREQUENCY = 125.0;
constexpr static const double URE_MAX_FREQUENCY = 500.0;
std::vector<std::string> readRecipe();
};