Obbart/universal_robots_ros_driver
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fix naming conventions

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This commit is contained in:
Felix Mauch
2019-06-06 10:45:05 +02:00
committed by Tristan Schnell
parent 9788504f93
commit e250128d7e
7 changed files with 22 additions and 22 deletions
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16
ur_rtde_driver/src/ros/hardware_interface_node.cpp
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@@ -30,13 +30,13 @@
#include <csignal>
#include <ur_rtde_driver/ros/hardware_interface.h>
std::unique_ptr<ur_driver::HardwareInterface> hw_interface;
std::unique_ptr<ur_driver::HardwareInterface> g_hw_interface;
void signalHandler(int signum)
{
std::cout << "Interrupt signal (" << signum << ") received.\n";
hw_interface.reset();
g_hw_interface.reset();
// cleanup and close up stuff here
// terminate program
@@ -62,15 +62,15 @@ int main(int argc, char** argv)
auto stopwatch_last = std::chrono::steady_clock::now();
auto stopwatch_now = stopwatch_last;
hw_interface.reset(new ur_driver::HardwareInterface);
g_hw_interface.reset(new ur_driver::HardwareInterface);
if (!hw_interface->init(nh, nh_priv))
if (!g_hw_interface->init(nh, nh_priv))
{
ROS_ERROR_STREAM("Could not correctly initialize robot. Exiting");
exit(1);
}
ROS_INFO_STREAM("initialized hw interface");
controller_manager::ControllerManager cm(hw_interface.get(), nh);
controller_manager::ControllerManager cm(g_hw_interface.get(), nh);
ROS_INFO_STREAM("started controller manager");
// Get current time and elapsed time since last read
@@ -128,13 +128,13 @@ int main(int argc, char** argv)
}
}
double expected_cycle_time = 1.0 / (static_cast<double>(hw_interface->getControlFrequency()));
double expected_cycle_time = 1.0 / (static_cast<double>(g_hw_interface->getControlFrequency()));
// Run as fast as possible
while (ros::ok())
{
// Receive current state from robot
hw_interface->read(timestamp, period);
g_hw_interface->read(timestamp, period);
// Get current time and elapsed time since last read
timestamp = ros::Time::now();
@@ -144,7 +144,7 @@ int main(int argc, char** argv)
cm.update(timestamp, period);
hw_interface->write(timestamp, period);
g_hw_interface->write(timestamp, period);
// if (!control_rate.sleep())
if (period.toSec() > expected_cycle_time)
{

6
ur_rtde_driver/src/rtde/data_package.cpp
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@@ -30,7 +30,7 @@ namespace ur_driver
{
namespace rtde_interface
{
std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::type_list_{
std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_type_list{
{ "timestamp", double() },
{ "target_q", vector6d_t() },
{ "target_qd", vector6d_t() },
@@ -193,9 +193,9 @@ bool rtde_interface::DataPackage ::parseWith(comm::BinParser& bp)
bp.parse(recipe_id_);
for (auto& item : recipe_)
{
if (type_list_.find(item) != type_list_.end())
if (g_type_list.find(item) != g_type_list.end())
{
_rtde_type_variant entry = type_list_[item];
_rtde_type_variant entry = g_type_list[item];
auto bound_visitor = std::bind(ParseVisitor(), std::placeholders::_1, bp);
boost::apply_visitor(bound_visitor, entry);
data_[item] = entry;

4
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -36,7 +36,7 @@
namespace ur_driver
{
static const int32_t MULT_JOINTSTATE_ = 1000000;
static const int32_t MULT_JOINTSTATE = 1000000;
static const std::string JOINT_STATE_REPLACE("{{JOINT_STATE_REPLACE}}");
static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
@@ -67,7 +67,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
uint32_t script_sender_port = 50002; // TODO: Make this a parameter
std::string prog = readScriptFile(script_file);
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE));
std::ostringstream out;
out << "lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());