Obbart/universal_robots_ros_driver
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notify on missing packages

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This commit is contained in:
Felix Mauch
2019-05-08 08:46:30 +02:00
parent b5bf8660be
commit e7c97150d5
3 changed files with 17 additions and 13 deletions
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6
ur_rtde_driver/src/ros/hardware_interface_node.cpp
View File

@@ -78,8 +78,10 @@ int main(int argc, char** argv)
if (!control_rate.sleep())
{
// ROS_WARN_STREAM("Could not keep cycle rate of " << control_rate.expectedCycleTime().toNSec() / 1000000.0 <<
// "ms");
ROS_WARN_STREAM("Could not keep cycle rate of " << control_rate.expectedCycleTime().toNSec() / 1000000.0 <<
"ms");
ROS_WARN_STREAM("Actual cycle time:" << control_rate.cycleTime().toNSec() / 1000000.0 <<
"ms");
}
}

21
ur_rtde_driver/src/ur/ur_driver.cpp
View File

@@ -73,27 +73,28 @@ def myProg():
sync()
elif state == SERVO_RUNNING:
servoj(q, {{SERVO_J_REPLACE}})
servoj(q, t=0.008, lookahead_time=0.03, gain=750)
else:
sync()
end
end
end
socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}})
socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
thread_servo = run servoThread()
keepalive = -2
params_mult = socket_read_binary_integer(6+1)
params_mult = socket_read_binary_integer(6+1, "reverse_socket")
keepalive = params_mult[7]
while keepalive > 0:
params_mult = socket_read_binary_integer(6+1)
keepalive = params_mult[7]
if keepalive > 0:
if params_mult[0] > 0:
q = [params_mult[1] / MULT_jointstate, params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate]
set_servo_setpoint(q)
end
params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.002)
if params_mult[0] > 0:
keepalive = params_mult[7]
q = [params_mult[1] / MULT_jointstate, params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate]
set_servo_setpoint(q)
else:
# TODO: Extrapolation goes here
keepalive = keepalive - 1
end
sync()
end
sleep(.1)
socket_close()