Obbart/universal_robots_ros_driver
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Code Releases Activity

Fixed issues preventing from compiling on Kinetic

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This commit is contained in:
Simon Rasmussen
2017-07-17 23:30:39 +02:00
parent 8e8a0428b0
commit a170b9f51e
4 changed files with 17 additions and 5 deletions
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3
include/ur_modern_driver/ros/controller.h
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@@ -1,7 +1,6 @@
#pragma once #pragma once
#include <controller_manager/controller_manager.h> #include <controller_manager/controller_manager.h>
#include <hardware_interface/force_torque_sensor_interface.h> #include <hardware_interface/force_torque_sensor_interface.h>
#include <hardware_interface/internal/demangle_symbol.h>
#include <hardware_interface/joint_command_interface.h> #include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h> #include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h> #include <hardware_interface/robot_hw.h>
@@ -46,7 +45,7 @@ private:
void registerControllereInterface(T* interface) void registerControllereInterface(T* interface)
{ {
registerInterface(interface); registerInterface(interface);
available_interfaces_[hardware_interface::internal::demangledTypeName<typename T::parent_type>()] = interface; available_interfaces_[T::INTERFACE_NAME] = interface;
} }
void read(RTShared& state); void read(RTShared& state);

5
include/ur_modern_driver/ros/hardware_interface.h
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@@ -33,7 +33,9 @@ private:
public: public:
JointInterface(std::vector<std::string> &joint_names); JointInterface(std::vector<std::string> &joint_names);
void update(RTShared &packet); void update(RTShared &packet);
typedef hardware_interface::JointStateInterface parent_type; typedef hardware_interface::JointStateInterface parent_type;
static const std::string INTERFACE_NAME;
}; };
class WrenchInterface : public hardware_interface::ForceTorqueSensorInterface class WrenchInterface : public hardware_interface::ForceTorqueSensorInterface
@@ -44,6 +46,7 @@ public:
WrenchInterface(); WrenchInterface();
void update(RTShared &packet); void update(RTShared &packet);
typedef hardware_interface::ForceTorqueSensorInterface parent_type; typedef hardware_interface::ForceTorqueSensorInterface parent_type;
static const std::string INTERFACE_NAME;
}; };
class VelocityInterface : public HardwareInterface, public hardware_interface::VelocityJointInterface class VelocityInterface : public HardwareInterface, public hardware_interface::VelocityJointInterface
@@ -59,6 +62,7 @@ public:
virtual bool write(); virtual bool write();
virtual void reset(); virtual void reset();
typedef hardware_interface::VelocityJointInterface parent_type; typedef hardware_interface::VelocityJointInterface parent_type;
static const std::string INTERFACE_NAME;
}; };
class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface
@@ -75,4 +79,5 @@ public:
virtual void stop(); virtual void stop();
typedef hardware_interface::PositionJointInterface parent_type; typedef hardware_interface::PositionJointInterface parent_type;
static const std::string INTERFACE_NAME;
}; };

8
src/ros/controller.cpp
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@@ -33,21 +33,23 @@ void ROSController::doSwitch(const std::list<hardware_interface::ControllerInfo>
for (auto const& ci : start_list) for (auto const& ci : start_list)
{ {
auto ait = available_interfaces_.find(ci.hardware_interface); auto ait = available_interfaces_.find(ci.name);
if (ait == available_interfaces_.end()) if (ait == available_interfaces_.end())
continue; continue;
auto new_interface = ait->second; auto new_interface = ait->second;
LOG_INFO("Starting %s", ci.hardware_interface.c_str()); LOG_INFO("Starting %s", ci.name.c_str());
active_interface_ = new_interface; active_interface_ = new_interface;
new_interface->start(); new_interface->start();
return; return;
} }
LOG_WARN("Failed to start interface!"); if(start_list.size() > 0)
LOG_WARN("Failed to start interface!");
} }
bool ROSController::write() bool ROSController::write()

6
src/ros/hardware_interface.cpp
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@@ -1,6 +1,7 @@
#include "ur_modern_driver/ros/hardware_interface.h" #include "ur_modern_driver/ros/hardware_interface.h"
#include "ur_modern_driver/log.h" #include "ur_modern_driver/log.h"
const std::string JointInterface::INTERFACE_NAME = "joint_state_controller";
JointInterface::JointInterface(std::vector<std::string> &joint_names) JointInterface::JointInterface(std::vector<std::string> &joint_names)
{ {
for (size_t i = 0; i < 6; i++) for (size_t i = 0; i < 6; i++)
@@ -16,6 +17,8 @@ void JointInterface::update(RTShared &packet)
efforts_ = packet.i_actual; efforts_ = packet.i_actual;
} }
const std::string WrenchInterface::INTERFACE_NAME = "force_torque_sensor_controller";
WrenchInterface::WrenchInterface() WrenchInterface::WrenchInterface()
{ {
registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", "", tcp_.begin(), tcp_.begin() + 3)); registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", "", tcp_.begin(), tcp_.begin() + 3));
@@ -26,6 +29,8 @@ void WrenchInterface::update(RTShared &packet)
tcp_ = packet.tcp_force; tcp_ = packet.tcp_force;
} }
const std::string VelocityInterface::INTERFACE_NAME = "vel_based_pos_traj_controller";
VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface,
std::vector<std::string> &joint_names, double max_vel_change) std::vector<std::string> &joint_names, double max_vel_change)
: commander_(commander), max_vel_change_(max_vel_change) : commander_(commander), max_vel_change_(max_vel_change)
@@ -57,6 +62,7 @@ void VelocityInterface::reset()
} }
} }
const std::string PositionInterface::INTERFACE_NAME = "pos_based_pos_traj_controller";
PositionInterface::PositionInterface(TrajectoryFollower &follower, PositionInterface::PositionInterface(TrajectoryFollower &follower,
hardware_interface::JointStateInterface &js_interface, hardware_interface::JointStateInterface &js_interface,
std::vector<std::string> &joint_names) std::vector<std::string> &joint_names)