Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-07-10 00:31:10 +02:00
Code Releases Activity

Renamed Safe Trajectory Follower to Low Bandwidth one

Browse Source
This commit is contained in:
Jarek Potiuk
2018-01-14 21:04:41 +01:00
parent 5dcef72415
commit a54b97e939
7 changed files with 33 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/ros/safe_trajectory_follower.cpp → src/ros/lowbandwidth_trajectory_follower.cpp
+10 -10
View File
@@ -1,4 +1,4 @@
#include "ur_modern_driver/ros/safe_trajectory_follower.h"
#include "ur_modern_driver/ros/lowbandwidth_trajectory_follower.h"
#include <endian.h>
#include <cmath>
#include <ros/ros.h>
@@ -16,7 +16,7 @@ static const std::string SERVOJ_LOOKAHEAD_TIME("{{SERVOJ_LOOKAHEAD_TIME}}");
static const std::string REVERSE_IP("{{REVERSE_IP}}");
static const std::string REVERSE_PORT("{{REVERSE_PORT}}");
static const std::string POSITION_PROGRAM = R"(
def driveRobotSafeTrajectory():
def driveRobotLowBandwidthTrajectory():
global JOINT_NUM = 6
global TIME_INTERVAL = {{TIME_INTERVAL}}
@@ -359,7 +359,7 @@ end
)";
SafeTrajectoryFollower::SafeTrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port,
LowBandwidthTrajectoryFollower::LowBandwidthTrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port,
bool version_3)
: running_(false)
, commander_(commander)
@@ -385,7 +385,7 @@ SafeTrajectoryFollower::SafeTrajectoryFollower(URCommander &commander, std::stri
std::string res(POSITION_PROGRAM);
std::ostringstream out;
if (!version_3) {
LOG_ERROR("Safe Trajectory Follower only works for interface version > 3");
LOG_ERROR("Low Bandwidth Trajectory Follower only works for interface version > 3");
std::exit(-1);
}
res.replace(res.find(TIME_INTERVAL), TIME_INTERVAL.length(), std::to_string(time_interval_));
@@ -405,12 +405,12 @@ SafeTrajectoryFollower::SafeTrajectoryFollower(URCommander &commander, std::stri
LOG_ERROR("Failed to bind server, the port %d is likely already in use", reverse_port);
std::exit(-1);
}
LOG_INFO("Safe Trajectory Follower is initialized!");
LOG_INFO("Low Bandwidth Trajectory Follower is initialized!");
}
bool SafeTrajectoryFollower::start()
bool LowBandwidthTrajectoryFollower::start()
{
LOG_INFO("Starting SafeTrajectoryFollower");
LOG_INFO("Starting LowBandwidthTrajectoryFollower");
if (running_)
return true; // not sure
@@ -435,7 +435,7 @@ bool SafeTrajectoryFollower::start()
return (running_ = true);
}
bool SafeTrajectoryFollower::execute(const std::array<double, 6> &positions,
bool LowBandwidthTrajectoryFollower::execute(const std::array<double, 6> &positions,
const std::array<double, 6> &velocities,
double sample_number, double time_in_seconds)
{
@@ -468,7 +468,7 @@ bool SafeTrajectoryFollower::execute(const std::array<double, 6> &positions,
return server_.write(buf, strlen(formatted_message) + 1, written);
}
bool SafeTrajectoryFollower::execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt)
bool LowBandwidthTrajectoryFollower::execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt)
{
if (!running_)
return false;
@@ -505,7 +505,7 @@ bool SafeTrajectoryFollower::execute(std::vector<TrajectoryPoint> &trajectory, s
return res;
}
void SafeTrajectoryFollower::stop()
void LowBandwidthTrajectoryFollower::stop()
{
if (!running_)
return;