Obbart/universal_robots_ros_driver
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Merge branch 'calibration_new'

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This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
This commit is contained in:
Felix Mauch
2019-06-03 09:41:59 +02:00
parent 649f499499 db8bf458ee
commit b15a416d06
16 changed files with 1154 additions and 20 deletions
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13
ur_rtde_driver/CMakeLists.txt
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@@ -19,7 +19,6 @@ find_package(catkin REQUIRED
roscpp
sensor_msgs
std_srvs
tf
trajectory_msgs
ur_controllers
ur_msgs
@@ -43,6 +42,7 @@ catkin_package(
trajectory_msgs
ur_controllers
ur_msgs
std_srvs
DEPENDS
Boost
)
@@ -127,14 +127,3 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
#if (CATKIN_ENABLE_TESTING)
#set(${PROJECT_NAME}_TEST_SOURCES
#tests/ur/master_board.cpp
#tests/ur/robot_mode.cpp
#tests/ur/rt_state.cpp)
#catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
#target_link_libraries(ur_rtde_driver_test ur_rtde_driver ${catkin_LIBRARIES})
#endif()

1
ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
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@@ -26,6 +26,7 @@
#include <cstddef>
#include <cstring>
#include <string>
#include <memory>
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/types.h"

1
ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
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@@ -154,6 +154,7 @@ public:
virtual ~Pipeline()
{
LOG_INFO("Destructing pipeline");
stop();
}

2
ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
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@@ -123,7 +123,7 @@ public:
default:
{
LOG_WARN("Invalid robot package type recieved: %u", static_cast<uint8_t>(type));
LOG_DEBUG("Invalid robot package type recieved: %u", static_cast<uint8_t>(type));
bp.consume();
return true;
}

3
ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
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@@ -28,8 +28,7 @@
#ifndef UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
#define UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
#include <mutex>
#include <condition_variable>
#include <sstream>
#include "ur_rtde_driver/primary/primary_package.h"
#include "ur_rtde_driver/primary/package_header.h"

1
ur_rtde_driver/package.xml
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@@ -31,7 +31,6 @@
<depend>trajectory_msgs</depend>
<depend>ur_controllers</depend>
<depend>ur_msgs</depend>
<depend>tf</depend>
<depend>std_srvs</depend>
<exec_depend>force_torque_sensor_controller</exec_depend>

10
ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp
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@@ -15,6 +15,8 @@
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/primary/robot_state/kinematics_info.h"
#include <iomanip>
namespace ur_driver
{
namespace primary_interface
@@ -43,28 +45,28 @@ std::string KinematicsInfo::toString() const
os << "dh_theta: [";
for (size_t i = 0; i < dh_theta_.size(); ++i)
{
os << dh_theta_[i] << " ";
os << std::setprecision(15) << dh_theta_[i] << " ";
}
os << "]" << std::endl;
os << "dh_a: [";
for (size_t i = 0; i < dh_a_.size(); ++i)
{
os << dh_a_[i] << " ";
os << std::setprecision(15) << dh_a_[i] << " ";
}
os << "]" << std::endl;
os << "dh_d: [";
for (size_t i = 0; i < dh_d_.size(); ++i)
{
os << dh_d_[i] << " ";
os << std::setprecision(15) << dh_d_[i] << " ";
}
os << "]" << std::endl;
os << "dh_alpha: [";
for (size_t i = 0; i < dh_alpha_.size(); ++i)
{
os << dh_alpha_[i] << " ";
os << std::setprecision(15) << dh_alpha_[i] << " ";
}
os << "]" << std::endl;