Obbart/universal_robots_ros_driver
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Code Releases Activity

added ros-publishing of changes in the state of the program on the robot

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This commit is contained in:
Tristan Schnell
2019-06-11 11:35:17 +02:00
parent 6337d4a374
commit ac9b4ef73a
2 changed files with 7 additions and 1 deletions
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2
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -32,6 +32,7 @@
#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 <algorithm> #include <algorithm>
#include <std_msgs/Bool.h>
#include <ur_controllers/speed_scaling_interface.h> #include <ur_controllers/speed_scaling_interface.h>
#include <ur_controllers/scaled_joint_command_interface.h> #include <ur_controllers/scaled_joint_command_interface.h>
@@ -101,6 +102,7 @@ protected:
std::string tcp_link_; std::string tcp_link_;
bool robot_program_running_; bool robot_program_running_;
ros::Publisher program_state_pub_;
}; };
} // namespace ur_driver } // namespace ur_driver

6
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -64,6 +64,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
} }
tcp_link_ = robot_hw_nh.param<std::string>("tcp_link", "tool0"); tcp_link_ = robot_hw_nh.param<std::string>("tcp_link", "tool0");
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
ROS_INFO_STREAM("Initializing urdriver"); ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename, ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename,
@@ -107,6 +108,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface"); ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
return true; return true;
} }
@@ -272,8 +274,10 @@ bool HardwareInterface ::isRobotProgramRunning() const
void HardwareInterface ::handleRobotProgramStop(bool program_running) void HardwareInterface ::handleRobotProgramStop(bool program_running)
{ {
// TODO add ROS publisher to call for controller stop
robot_program_running_ = program_running; robot_program_running_ = program_running;
std_msgs::Bool msg;
msg.data = robot_program_running_;
program_state_pub_.publish(msg);
} }
} // namespace ur_driver } // namespace ur_driver