Merge current development

ur_calibration/CHANGELOG.rst

@@ -0,0 +1,7 @@
+0.0.2 (2019-07-03)
+------------------
+* Catch exception and log error when no connection can be established
+
+0.0.1 (2019-06-28)
+------------------
+Initial release

ur_calibration/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

ur_calibration/src/calibration_correction.cpp

@@ -183,13 +183,20 @@ int main(int argc, char* argv[])
   ros::init(argc, argv, "ur_calibration");
   ros::NodeHandle nh("~");
 
-  CalibrationCorrection my_calibration_correction(nh);
-  my_calibration_correction.run();
-  if (!my_calibration_correction.writeCalibrationData())
+  try
   {
-    ROS_ERROR_STREAM("Failed writing calibration data. See errors above for details.");
-    return -1;
+    CalibrationCorrection my_calibration_correction(nh);
+    my_calibration_correction.run();
+    if (!my_calibration_correction.writeCalibrationData())
+    {
+      ROS_ERROR_STREAM("Failed writing calibration data. See errors above for details.");
+      return -1;
+    }
+    ROS_INFO("Calibration correction done");
+  }
+  catch (const UrException& e)
+  {
+    ROS_ERROR_STREAM(e.what());
   }
-  ROS_INFO("Calibration correction done");
   return 0;
 }

ur_controllers/CHANGELOG.rst

@@ -0,0 +1,7 @@
+0.0.2 (2019-07-03)
+------------------
+Releasing alongside other packages. No updates.
+
+0.0.1 (2019-06-28)
+------------------
+Initial release

ur_controllers/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_controllers</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

ur_rtde_driver/CHANGELOG.rst

@@ -0,0 +1,15 @@
+0.0.2 (2019-07-03)
+------------------
+* Fixed dependencies and installation
+* Updated README
+* Fixed passing parameters through launch files
+* Added support for correctly switching controllers during runtime and using the standard
+  joint_trajectory_controller
+* Updated externalcontrol URCap to version 1.0.2
+  + Fixed Script timeout when running the URCap inside of a looping tree
+  + Fixed a couple of typos
+* Increased minimal required UR software version to 3.7/5.1
+
+0.0.1 (2019-06-28)
+------------------
+Initial release

ur_rtde_driver/launch/ur10_bringup.launch

@@ -23,6 +23,7 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur10e_bringup.launch

@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
@@ -32,12 +32,15 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
     <arg name="tool_voltage" value="$(arg tool_voltage)"/>
     <arg name="tool_parity" value="$(arg tool_parity)"/>
     <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
     <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
     <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
     <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+    <arg name="tool_device_name" value="$(arg tool_device_name)"/>
+    <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur3_bringup.launch

@@ -23,6 +23,7 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur3e_bringup.launch

@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
@@ -32,12 +32,15 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
     <arg name="tool_voltage" value="$(arg tool_voltage)"/>
     <arg name="tool_parity" value="$(arg tool_parity)"/>
     <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
     <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
     <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
     <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+    <arg name="tool_device_name" value="$(arg tool_device_name)"/>
+    <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur5_bringup.launch

@@ -23,6 +23,7 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur5e_bringup.launch

@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
@@ -32,12 +32,15 @@
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
     <arg name="tool_voltage" value="$(arg tool_voltage)"/>
     <arg name="tool_parity" value="$(arg tool_parity)"/>
     <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
     <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
     <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
     <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+    <arg name="tool_device_name" value="$(arg tool_device_name)"/>
+    <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
   </include>
 
 </launch>

ur_rtde_driver/launch/ur_common.launch

@@ -10,7 +10,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
@@ -36,11 +36,14 @@
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
     <arg name="tool_voltage" value="$(arg tool_voltage)"/>
     <arg name="tool_parity" value="$(arg tool_parity)"/>
     <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
     <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
     <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
     <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+    <arg name="tool_device_name" value="$(arg tool_device_name)"/>
+    <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
   </include>
 </launch>

ur_rtde_driver/launch/ur_control.launch

@@ -15,7 +15,7 @@
   <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
@@ -45,7 +45,7 @@
   <node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
     <param name="robot_ip" value="$(arg robot_ip)"/>
     <param name="device_name" value="$(arg tool_device_name)"/>
-    <param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
+    <param name="tcp_port" value="$(arg tool_tcp_port)"/>
   </node>
 
   <!-- Load controller settings -->

ur_rtde_driver/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ur_rtde_driver</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>

ur_rtde_driver/src/ros/hardware_interface.cpp

@@ -287,15 +287,17 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
 
 void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period)
 {
-  if (position_controller_running_ &&
-      (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
-       runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
+  if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
+      runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING))
   {
-    ur_driver_->writeJointCommand(joint_position_command_);
-  }
-  else
-  {
-    ur_driver_->writeKeepalive();
+    if (position_controller_running_)
+    {
+      ur_driver_->writeJointCommand(joint_position_command_);
+    }
+    else
+    {
+      ur_driver_->writeKeepalive();
+    }
   }
 }