Obbart/universal_robots_ros_driver
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Added parameter to use eiter ros_control or old-style interface

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This commit is contained in:
Thomas Timm Andersen
2015-09-24 16:37:14 +02:00
parent 6f3bd5d06f
commit a2c074eec4
3 changed files with 51 additions and 38 deletions
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6
launch/ur10_ros_control.launch
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@@ -4,11 +4,12 @@
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -22,6 +23,7 @@
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
</node>
<!-- Load controller settings -->
@@ -29,7 +31,7 @@
<!-- Load controller manager -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" />
output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

6
launch/ur5_ros_control.launch
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@@ -4,6 +4,7 @@
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
@@ -22,14 +23,15 @@
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- Load controller manager -->
<!-- <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

77
src/ur_ros_wrapper.cpp
View File

@@ -55,10 +55,11 @@ protected:
ros::ServiceServer payload_srv_;
std::thread* rt_publish_thread_;
std::thread* mb_publish_thread_;
std::thread* ros_control_thread_;
double io_flag_delay_;
double max_velocity_;
std::vector<double> joint_offsets_;
bool use_ros_control_;
std::thread* ros_control_thread_;
boost::shared_ptr<ros_control_ur::UrHardwareInterface> hardware_interface_;
boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
@@ -82,12 +83,16 @@ public:
joint_names.push_back(joint_prefix + "wrist_3_joint");
robot_.setJointNames(joint_names);
hardware_interface_.reset(
new ros_control_ur::UrHardwareInterface(nh_, &robot_));
controller_manager_.reset(
new controller_manager::ControllerManager(
hardware_interface_.get(), nh_));
use_ros_control_ = false;
ros::param::get("~use_ros_control", use_ros_control_);
if (use_ros_control_) {
hardware_interface_.reset(
new ros_control_ur::UrHardwareInterface(nh_, &robot_));
controller_manager_.reset(
new controller_manager::ControllerManager(
hardware_interface_.get(), nh_));
}
//Using a very high value in order to not limit execution of trajectories being sent from MoveIt!
max_velocity_ = 10.;
if (ros::param::get("~max_velocity", max_velocity_)) {
@@ -95,31 +100,43 @@ public:
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_DEBUG("Min payload set to: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload set to: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
ROS_DEBUG("Bounds for set_payload service calls: [%f, %f]",
min_payload, max_payload);
//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_DEBUG("Min payload set to: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload set to: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
ROS_DEBUG("Bounds for set_payload service calls: [%f, %f]", min_payload,
max_payload);
if (robot_.start()) {
if (use_ros_control_) {
ros_control_thread_ = new std::thread(
boost::bind(&RosWrapper::rosControlLoop, this));
ROS_DEBUG(
"The control thread for this driver has been started");
} else {
//register the goal and feedback callbacks
as_.registerGoalCallback(
boost::bind(&RosWrapper::goalCB, this));
as_.registerPreemptCallback(
boost::bind(&RosWrapper::preemptCB, this));
//register the goal and feedback callbacks
//as_.registerGoalCallback(boost::bind(&RosWrapper::goalCB, this));
//as_.registerPreemptCallback(boost::bind(&RosWrapper::preemptCB, this));
as_.start();
//as_.start();
//subscribe to the data topic of interest
//subscribe to the data topic of interest
rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this));
ROS_DEBUG("The action server for this driver has been started");
}
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));
speed_sub_ = nh_.subscribe("ur_driver/joint_speed", 1,
&RosWrapper::speedInterface, this);
urscript_sub_ = nh_.subscribe("ur_driver/URScript", 1,
@@ -129,14 +146,6 @@ public:
&RosWrapper::setIO, this);
payload_srv_ = nh_.advertiseService("ur_driver/set_payload",
&RosWrapper::setPayload, this);
ros_control_thread_ = new std::thread(
boost::bind(&RosWrapper::rosControlLoop, this));
/*rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this)); */
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));
ROS_DEBUG("The action server for this driver has been started");
}
}