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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3
ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
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@@ -65,7 +65,8 @@ public:
b_pos += append(b_pos, val); b_pos += append(b_pos, val);
} }
int32_t val = htobe32(1); // TODO: Make this a parameter: Number of allowed missed packages
int32_t val = htobe32(5);
append(b_pos, val); append(b_pos, val);
size_t written; size_t written;

6
ur_rtde_driver/src/ros/hardware_interface_node.cpp
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@@ -78,8 +78,10 @@ int main(int argc, char** argv)
if (!control_rate.sleep()) if (!control_rate.sleep())
{ {
// ROS_WARN_STREAM("Could not keep cycle rate of " << control_rate.expectedCycleTime().toNSec() / 1000000.0 << ROS_WARN_STREAM("Could not keep cycle rate of " << control_rate.expectedCycleTime().toNSec() / 1000000.0 <<
// "ms"); "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() sync()
elif state == SERVO_RUNNING: elif state == SERVO_RUNNING:
servoj(q, {{SERVO_J_REPLACE}}) servoj(q, {{SERVO_J_REPLACE}})
servoj(q, t=0.008, lookahead_time=0.03, gain=750)
else: else:
sync() sync()
end end
end 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() thread_servo = run servoThread()
keepalive = -2 keepalive = -2
params_mult = socket_read_binary_integer(6+1) params_mult = socket_read_binary_integer(6+1, "reverse_socket")
keepalive = params_mult[7] keepalive = params_mult[7]
while keepalive > 0: while keepalive > 0:
params_mult = socket_read_binary_integer(6+1) params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.002)
keepalive = params_mult[7] if params_mult[0] > 0:
if keepalive > 0: keepalive = params_mult[7]
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]
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)
set_servo_setpoint(q) else:
end # TODO: Extrapolation goes here
keepalive = keepalive - 1
end end
sync()
end end
sleep(.1) sleep(.1)
socket_close() socket_close()