Obbart/universal_robots_ros_driver
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Changed how trajectories are handled to try and speed things up

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This commit is contained in:
Thomas Timm Andersen
2015-09-22 10:29:44 +02:00
parent 36c8b70ba0
commit c4af674faa
6 changed files with 291 additions and 18 deletions
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27
include/ur_modern_driver/ur_driver.h
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@@ -19,6 +19,12 @@
#include <vector>
#include <math.h>
#include <string>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <chrono>
class UrDriver {
private:
@@ -26,23 +32,36 @@ private:
double minimum_payload_;
double maximum_payload_;
std::vector<std::string> joint_names_;
std::string ip_addr_;
const int MULT_JOINTSTATE_ = 1000000;
const int MULT_TIME_ = 1000000;
const unsigned int REVERSE_PORT_;
int incoming_sockfd_;
public:
UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_;
UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12, double max_time_step = 0.08,
double min_payload = 0., double max_payload = 1.);
UrDriver(std::condition_variable& rt_msg_cond,
std::condition_variable& msg_cond, std::string host,
unsigned int reverse_port = 50007, unsigned int safety_count_max =
12, double max_time_step = 0.08, double min_payload = 0.,
double max_payload = 1.);
void start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc = 100.);
void addTraj(std::vector<double> inp_timestamps,
void addTraj(
std::vector<double> inp_timestamps, //DEPRECATED
std::vector<std::vector<double> > positions,
std::vector<std::vector<double> > velocities);
void doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities);
void stopTraj();
void uploadProg();
std::vector<double> interp_cubic(double t, double T,
std::vector<double> p0_pos, std::vector<double> p1_pos,
std::vector<double> p0_vel, std::vector<double> p1_vel);

5
include/ur_modern_driver/ur_realtime_communication.h
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@@ -28,6 +28,8 @@
#include <netdb.h>
#include <iostream>
#include <unistd.h>
#include <arpa/inet.h>
#include <errno.h>
#ifdef ROS_BUILD
#include <ros/ros.h>
@@ -39,6 +41,7 @@ private:
int sockfd_;
struct sockaddr_in serv_addr_;
struct hostent *server_;
std::string local_ip_;
bool keepalive_;
std::thread comThread_;
int flag_;
@@ -47,6 +50,7 @@ private:
unsigned int safety_count_;
void run();
public:
bool connected_;
RobotStateRT* robot_state_;
@@ -59,6 +63,7 @@ public:
double q5, double acc = 100.);
void addCommandToQueue(std::string inp);
void setSafetyCountMax(uint inp);
std::string getLocalIp();
};