Obbart/universal_robots_ros_driver
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implemented setting of speed_slider via ROS topic

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This commit is contained in:
Tristan Schnell
2019-07-31 13:05:24 +02:00
parent 323125f84d
commit dc660b854d
5 changed files with 55 additions and 10 deletions
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7
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -216,6 +216,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
}
tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));
speed_slider_sub_ = robot_hw_nh.subscribe("set_speed_slider", 10, &HardwareInterface::speedScalingCallback, this);
deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
@@ -533,4 +535,9 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
}
return true;
}
void HardwareInterface::speedScalingCallback(const std_msgs::Float64::ConstPtr& msg)
{
ur_driver_->getRTDEWriter().sendSpeedSlider(msg->data);
}
} // namespace ur_driver

2
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -40,7 +40,7 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
, parser_(recipe_)
, prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier)
, writer_(&stream_, input_recipe_file)
, writer_(&stream_, input_recipe_)
, max_frequency_(URE_MAX_FREQUENCY)
{
}

40
ur_rtde_driver/src/rtde/rtde_writer.cpp
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@@ -31,35 +31,63 @@ namespace ur_driver
{
namespace rtde_interface
{
RTDEWriter::RTDEWriter(comm::URStream<PackageHeader>* stream, const std::string& recipe_file) : stream_(stream)
RTDEWriter::RTDEWriter(comm::URStream<PackageHeader>* stream, const std::vector<std::string>& recipe)
: stream_(stream), recipe_(recipe), queue_{ 32 }
{
}
bool RTDEWriter::init(uint8_t recipe_id)
void RTDEWriter::init(uint8_t recipe_id)
{
return false;
recipe_id_ = recipe_id;
writer_thread_ = std::thread(&RTDEWriter::run, this);
}
bool RTDEWriter::start()
void RTDEWriter::run()
{
return false;
uint8_t buffer[4096];
size_t size;
size_t written;
std::unique_ptr<DataPackage> package;
while (true)
{
queue_.waitDequeue(package);
package->setRecipeID(recipe_id_);
size = package->serializePackage(buffer);
stream_->write(buffer, size, written);
}
}
bool RTDEWriter::sendSpeedSlider(double speed_slider_fraction)
{
return false;
std::unique_ptr<DataPackage> package;
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint32_t mask = 1;
package->setData("speed_slider_mask", mask);
package->setData("speed_slider_fraction", speed_slider_fraction);
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
return true;
}
bool RTDEWriter::sendStandardDigitalOutput(uint8_t output_pin, bool value)
{
return false;
}
bool RTDEWriter::sendConfigurableDigitalOutput(uint8_t output_pin, bool value)
{
return false;
}
bool RTDEWriter::sendToolDigitalOutput(bool value)
{
return false;
}
bool RTDEWriter::sendStandardAnalogOuput(uint8_t output_pin, bool value)
{
return false;