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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33
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -32,8 +32,11 @@
#include "ur_rtde_driver/ur/ur_driver.h"
#include "ur_rtde_driver/exceptions.h"
#include "ur_rtde_driver/primary/primary_parser.h"
#include <memory>
#include <ur_rtde_driver/ur/calibration_checker.h>
namespace ur_driver
{
static const int32_t MULT_JOINTSTATE = 1000000;
@@ -45,16 +48,17 @@ static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
const std::string& recipe_file, std::function<void(bool)> handle_program_state,
std::unique_ptr<ToolCommSetup> tool_comm_setup)
std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum)
: servoj_time_(0.008)
, servoj_gain_(2000)
, servoj_lookahead_time_(0.03)
, reverse_interface_active_(false)
, handle_program_state_(handle_program_state)
, robot_ip_(robot_ip)
{
LOG_DEBUG("Initializing urdriver");
LOG_DEBUG("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, recipe_file));
if (!rtde_client_->init())
{
@@ -66,6 +70,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
std::string local_ip = rtde_client_->getIP();
LOG_INFO("Checking if calibration data matches connected robot.");
checkCalibration(calibration_checksum);
uint32_t reverse_port = 50001; // TODO: Make this a parameter
uint32_t script_sender_port = 50002; // TODO: Make this a parameter
@@ -205,4 +212,26 @@ std::string UrDriver::readKeepalive()
return std::string("");
}
}
void UrDriver::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.");
}
} // namespace ur_driver