Obbart/universal_robots_ros_driver
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Major refactor

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This commit is contained in:
Simon Rasmussen
2017-04-27 06:40:03 +02:00
parent 46f4e493cf
commit c59bfc78cc
22 changed files with 825 additions and 423 deletions
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28
src/ros_main.cpp
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@@ -6,10 +6,12 @@
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/pipeline.h"
#include "ur_modern_driver/ros/action_server.h"
#include "ur_modern_driver/ros/controller.h"
#include "ur_modern_driver/ros/io_service.h"
#include "ur_modern_driver/ros/mb_publisher.h"
#include "ur_modern_driver/ros/controller.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ros/trajectory_follower.h"
#include "ur_modern_driver/ros/service_stopper.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/factory.h"
@@ -63,7 +65,7 @@ bool parse_args(ProgArgs &args)
return true;
}
#include "ur_modern_driver/event_counter.h"
#include "ur_modern_driver/ur/server.h"
int main(int argc, char **argv)
{
@@ -75,6 +77,7 @@ int main(int argc, char **argv)
return EXIT_FAILURE;
}
URFactory factory(args.host);
vector<Service*> services;
@@ -84,17 +87,27 @@ int main(int argc, char **argv)
URStream rt_stream(args.host, UR_RT_PORT);
URProducer<RTPacket> rt_prod(rt_stream, *rt_parser);
RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame, args.use_ros_control);
URCommander rt_commander(rt_stream);
auto rt_commander = factory.getCommander(rt_stream);
vector<IConsumer<RTPacket> *> rt_vec{&rt_pub};
TrajectoryFollower traj_follower(*rt_commander, args.reverse_port, factory.isVersion3());
ROSController *controller(nullptr);
ActionServer *action_server(nullptr);
if (args.use_ros_control)
{
LOG_INFO("ROS control enabled");
controller = new ROSController(rt_commander, args.joint_names, args.max_vel_change);
controller = new ROSController(*rt_commander, args.joint_names, args.max_vel_change);
rt_vec.push_back(controller);
services.push_back(controller);
}
else
{
LOG_INFO("ActionServer enabled");
action_server = new ActionServer(traj_follower, args.joint_names, args.max_velocity);
//rt_vec.push_back(action_server);
services.push_back(action_server);
}
MultiConsumer<RTPacket> rt_cons(rt_vec);
Pipeline<RTPacket> rt_pl(rt_prod, rt_cons);
@@ -116,8 +129,11 @@ int main(int argc, char **argv)
rt_pl.run();
state_pl.run();
URCommander state_commander(state_stream);
IOService io_service(state_commander);
auto state_commander = factory.getCommander(state_stream);
IOService io_service(*state_commander);
if(action_server)
action_server->start();
ros::spin();