Obbart/universal_robots_ros_driver
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move calibration check to ros-independent part

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This commit is contained in:
Felix Mauch
2019-07-16 11:48:29 +02:00
parent 4a953be4a4
commit c38bd99647
4 changed files with 42 additions and 37 deletions
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32
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -31,10 +31,6 @@
#include <Eigen/Geometry>
#include <ur_rtde_driver/primary/package_header.h>
#include <ur_rtde_driver/primary/primary_parser.h>
#include <ur_rtde_driver/ur/calibration_checker.h>
namespace ur_driver
{
HardwareInterface::HardwareInterface()
@@ -72,10 +68,6 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
std::string tf_prefix = robot_hw_nh.param<std::string>("tf_prefix", "");
ROS_INFO_STREAM("Checking if calibration data matches connected robot.");
std::string calibration_checksum = robot_hw_nh.param<std::string>("kinematics/hash", "");
checkCalibration(calibration_checksum);
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
tcp_transform_.header.frame_id = "base";
tcp_transform_.child_frame_id = "tool0_controller";
@@ -137,12 +129,13 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
tool_comm_setup->setTxIdleChars(tx_idle_chars);
}
std::string calibration_checksum = robot_hw_nh.param<std::string>("kinematics/hash", "");
ROS_INFO_STREAM("Initializing urdriver");
try
{
ur_driver_.reset(new UrDriver(robot_ip_, script_filename, recipe_filename,
std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1),
std::move(tool_comm_setup)));
std::move(tool_comm_setup), calibration_checksum));
}
catch (ur_driver::ToolCommNotAvailable& e)
{
@@ -435,27 +428,6 @@ void HardwareInterface ::publishPose()
}
}
void HardwareInterface ::checkCalibration(const std::string& checksum)
{
comm::URStream<ur_driver::primary_interface::PackageHeader> stream(robot_ip_,
ur_driver::primary_interface::UR_PRIMARY_PORT);
primary_interface::PrimaryParser parser;
comm::URProducer<ur_driver::primary_interface::PackageHeader> prod(stream, parser);
CalibrationChecker consumer(checksum);
comm::INotifier notifier;
comm::Pipeline<ur_driver::primary_interface::PackageHeader> pipeline(prod, consumer, "Pipeline", notifier);
pipeline.run();
while (!consumer.isChecked())
{
ros::Duration(1).sleep();
}
ROS_DEBUG_STREAM("Got calibration information from robot.");
}
bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
if (isRobotProgramRunning())