diff --git a/CMakeLists.txt b/CMakeLists.txt index 27daafe..03bad40 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.12) -project(ur_modern_driver) +project(ur_rtde_driver) add_definitions( -DROS_BUILD ) @@ -123,6 +123,6 @@ if (CATKIN_ENABLE_TESTING) tests/ur/robot_mode.cpp tests/ur/rt_state.cpp) - catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp) - target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES}) + catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp) + target_link_libraries(ur_rtde_driver_test ur_hardware_interface ${catkin_LIBRARIES}) endif() diff --git a/LICENSE b/LICENSE index 35548b1..c35b007 100644 --- a/LICENSE +++ b/LICENSE @@ -1,4 +1,4 @@ -Copyright 2015 Thomas Timm Andersen +Copyright 2019 FZI Forschungszentrum Informatik Apache License Version 2.0, January 2004 diff --git a/README.md b/README.md index 8a3dea2..74ad276 100644 --- a/README.md +++ b/README.md @@ -1,195 +1,3 @@ -# ur_modern_driver - Refactored -[![Build Status](https://travis-ci.org/ros-industrial/ur_modern_driver.svg?branch=kinetic-devel)](https://travis-ci.org/ros-industrial/ur_modern_driver) -[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) - -A new driver for the UR3/UR5/UR10 robot arms from Universal Robots. It is designed to replace the old driver transparently, while solving some issues, improving usability as well as enabling compatibility of ros_control. - -## Improvements - -* A script is only running on the robot while a trajectory is actually executing. This means that the teach pendant can be used to move the robot around while the driver is connected. - -* The driver exposes the same functionality as the previous ur\_driver: - - * Action interface on */follow\_joint\_trajectory* for seamless integration with MoveIt - - * Publishes robot joint state on */joint\_states* - - * Publishes TCP force on */wrench* - - * Publishes IO state on */ur\_driver/io\_states* (Note that the string */ur\_driver* has been prepended compared to the old driver) - - * Service call to set outputs and payload - Again, the string */ur\_driver* has been prepended compared to the old driver (Note: I am not sure if setting the payload actually works, as the robot GUI does not update. This is also true for the old ur\_driver ) - - -* Besides this, the driver subscribes to two new topics: - - * */ur\_driver/URScript* : Takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Intended for sending movel/movej commands directly to the robot, conveyor tracking and the like. - - * */joint\_speed* : Takes messages of type _trajectory\_msgs/JointTrajectory_. Parses the first JointTrajectoryPoint and sends the specified joint speeds and accelerations to the robot. This interface is intended for doing visual servoing and other kind of control that requires speed control rather than position control of the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order. - -* Added support for ros_control. - * As ros_control wants to have control over the robot at all times, ros_control compatibility is set via a parameter at launch-time. - * With ros_control active, the driver doesn't open the action_lib interface nor publish joint_states or wrench msgs. This is handled by ros_control instead. - * Currently two controllers are available, both controlling the joint position of the robot, useable for trajectroy execution - * The velocity based controller sends joint speed commands to the robot, using the speedj command - * The position based controller sends joint position commands to the robot, using the servoj command - * I have so far only used the velocity based controller, but which one is optimal depends on the application. - * As ros_control continuesly controls the robot, using the teach pendant while a controller is running will cause the controller **on the robot** to crash, as it obviously can't handle conflicting control input from two sources. Thus be sure to stop the running controller **before** moving the robot via the teach pendant: - * A list of the loaded and running controllers can be found by a call to the controller_manager ```rosservice call /controller_manager/list_controllers {} ``` - * The running position trajectory controller can be stopped with a call to ```rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: - '' stop_controllers: - 'pos_based_pos_traj_controller' strictness: 1" ``` (Remember you can use tab-completion for this) - -* Added activation modes: `Never`, `Always` and `OnStartup`. Sets wether a call to the `ur_driver/robot_enable` service is required at startup, at startup + on errors or never. Is intended as a safety feature to require some sort of manual intervention in case of driver crashes and robot safety faults. - -* **Low Bandwidth Trajectory Follower** mode of execution. (only works when `ros_control` is set to `false`)In this mode the real-time control loop for the robot is shifted from the client PC running the driver to URscript executed on the URControl PC of the robot with the following features: - * It works only with */follow\_joint\_trajectory* action for MoveIt integration. It is mutually exclusive with *ros_control* - * It only implements "position + velocity" based control - it uses coarse positions and velocities calculated by MoveIt and performs cubic interpolation of joint positions (Bezier' curve) of positions. The positions are set using servoj command of URScript. - * It is much more resilient to connectivity problems than other methods of ur_modern_driver. It is resilient to additional load on client PC, latency of network and kernel of the PC the driver runs on. This makes it much better suitable for development/research quick iteration loops without separate dedicated physical setup. - * Other methods of controlling the robot by ur_modern_driver are very fragile and require low-latency kernel, separated wired network and ideally no other network activity on the PC where ur_modern_driver runs. - * **Low Bandwidth Trajectory Follower** will never make dangerous "catch-up" when move is delayed. Other methods prioritise execution time of a move which sometimes might lead to situation where robot gets out of control and speeds up to catch-up - often resulting in Protective Stop. For Low Bandwith Trajectory Follower predictability of the move has priority over move execution time. - * The amount of TCP/IP communication between the driver and UR robot (URControl PC) is two orders of magnitude (around 100x) less with **Low Bandwidth Trajectory Follower** than with other methods- coarse MoveIt generated trajectory is sent to robot and cubic interpolation of the move is calculated by the URScript program run on URControl PC. - * Due to communication optimisations and **Low Bandwidth Trajectory Follower** works reliably even over WiFi connection (!) which is impossible for other methods. - * Time flow for the URScript program might be independent from "real time" and can be controlled to speed up or slow down execution of planned moves. - * The Low Bandwidth Trajectory Follower requires 3.0+ version firmware of the robot (servoj command must support lookahead_time and servoj_gain parameters) - * There are several parameters that you can use to control Low Bandwidth Trajectory Follower's behaviour: - * **use_lowbandwidth_trajectory_follower** - should be set to `true` to enable the follower - * **time_interval** - time interval (in seconds) this is 'simulated' time for interpolation steps of the move. Together with *servoj_time* it can be used to change speed of moves even after they are planned by MoveIt. Default value is 0.008 - * **servoj_time** - time interval (real time) for which each interpolation step controls the robot (using servoj command). See below on examples of setting different time parameters. Default value is 0.008 (corresponds to expected 125Hz frequency of UR robot control) - * **servoj_time_waiting** - time in seconds (real time) of internal active loop while the robot waits for new instructions in case of delays in communication. The smaller value, the faster robot restarts move after delay (but more stress is put on URControl processor). Default value is 0.001 (1000 Hz check frequency) - * **max_waiting_time** - maximum time in seconds (real time) to wait for instructions from the drive before move is aborted. Defaults to 2 seconds. - * **servoj_gain** and **servoj_lookahead_time** - useful to control precision and speed of the position moves with servoj command (see URScript documentation for detailes) - * **max_joint_difference** - maximum allowed difference between target and actual joints - checked at every trajectory step -Here are some examples of manipulating the time flow for **Low Bandwidth Trajectory Follower** mode. You can use other settings but you should do it on your own risk. - * Default mode: *servoj_time* = 0.008, *time_interval* = 0.008 : interpolation time flows with the same speed as real time - moves are executed as planned - * Slow-motion mode: *servoj_time* = 0.008, *time_interval* = 0.004 : interpolation time flows 2x slower than real time, so the move is executed 2x slower than planned. Requires configuring MoveIt to accept much slower moves than expected (otherwise MoveIt cancels such move mid-way) - * Fast-forward mode: *servoj_time* = 0.004, *time_interval* = 0.012 : interpolation time flows 3x faster than real time, so the move is 3x faster than planned. Might violate limits of the robot speed so use carefully and make sure you gradually increase the speed in-between to check how safe it is. - -NOTE! In case you use Low Bandwidth Trajectory Follower and you experience MoveIt to cancel robot moves prematurely -because of too long move duration, you should increase tolerance of duration monitoring of MoveIt trajectory execution -You can find the configuration usually in trajectory_execution.launch.xml in generated moveit config - there are -parameters that configure scaling and margin for allowed execution time among others. -The relevant parameters are `trajectory_execution/allowed_execution_duration_scaling` (default 1.2) and -`trajectory_execution/allowed_goal_duration_margin` (default 0.5). The first one is factor that scales execution time, -the second is margin that is added on top of the scaled one. You can increase either of those values to make moveit -executor more "tolerant" to execution delays. There is also another parameter: -`trajectory_execution/execution_duration_monitoring`. You can set it to false to disable duration monitoring completely. - -## Installation - -**As the driver communicates with the robot via ethernet and depends on reliable continous communication, it is not possible to reliably control a UR from a virtual machine.** - -Just clone the repository into your catkin working directory and make it with ```catkin_make```. - -Note that this package depends on ur_msgs, hardware_interface, and controller_manager so it cannot directly be used with ROS versions prior to hydro. - -## Usage - -The driver is designed to be a drop-in replacement of the ur\_driver package. It _won't_ overwrite your current driver though, so you can use and test this package without risking to break your current setup. - -If you want to test it in your current setup, just use the modified launch files included in this package instead of those in ur\_bringup. Everything else should work as usual. - -If you would like to run this package to connect to the hardware, you only need to run the following launch file. -``` -roslaunch ur_modern_driver urXX_bringup.launch robot_ip:=ROBOT_IP_ADDRESS -``` - -Where ROBOT_IP_ADDRESS is your UR arm's IP and XX is '5' or '10' depending on your robot. The above launch file makes calls to both roscore and the launch file to the urXX_description so that ROS's parameter server has information on your robot arm. If you do not have your ```ur_description``` installed please do so via: -``` -sudo apt install ros--ur-description -``` - -Where is the ROS distribution your machine is running on. You may want to run MoveIt to plan and execute actions on the arm. You can do so by simply entering the following commands after launching ```ur_modern_driver```: -``` -roslaunch urXX_moveit_config ur5_moveit_planning_execution.launch -roslaunch urXX_moveit_config moveit_rviz.launch config:=true -``` ---- -If you would like to use the ros\_control-based approach, use the launch file urXX\_ros\_control.launch instead of urXX\_bringup.launch, where XX is '5' or '10' depending on your robot. - -**Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder: - * urXX_moveit_config - * ur_description - -The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: -``` -rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: -- 'vel_based_pos_traj_controller' -stop_controllers: -- 'pos_based_pos_traj_controller' -strictness: 1" -``` -Be sure to stop the currently running controller **either before or in the same call** as you start a new one, otherwise it will fail. - -The position based controller *should* stay closer to the commanded path, while the velocity based react faster (trajectory execution start within 50-70 ms, while it is in the 150-180ms range for the position_based. Usage without ros_control as well as the old driver is also in the 170ms range, as mentioned at my lightning talk @ ROSCon 2013). - -**Note** that the PID values are not optimally tweaked as of this moment. - -To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following: - -```yaml -controller_list: - - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint -``` - -## Using the tool0_controller frame - -Each robot from UR is calibrated individually, so there is a small error (in the order of millimeters) between the end-effector reported by the URDF models in https://github.com/ros-industrial/universal_robot/tree/indigo-devel/ur_description and -the end-effector as reported by the controller itself. - -This driver broadcasts a transformation between the base link and the end-effector as reported by the UR. The default frame names are: *base* and *tool0_controller*. - -To use the *tool0_controller* frame in a URDF, there needs to be a link with that name connected to *base*. For example: - -```xml - - - - - - - -``` - -Now, the actual transform between *base* and *tool0_controller* will not be published by the *robot_state_publisher* but will be taken from this driver via */tf*. - -**NOTE**: You need an up-to-date version of *robot_state_publisher* that is able to deal with floating joints, see: https://github.com/ros/robot_state_publisher/pull/32 - -## Compatibility -Should be compatible with all robots and control boxes with the newest firmware. - -### Tested with: - -* Real UR10 with CB2 running 1.8.14035 -* Real UR5 with CB2 running 1.8.14035 -* Simulated UR3 running 3.1.18024 -* Simulated UR5 running 3.0.16471 -* Simulated UR5 running 1.8.16941 -* Simulated UR5 running 1.7.10857 -* Simulated UR5 running 1.6.08725 - - -# Credits -Please cite the following report if using this driver - -``` -@techreport{andersen2015optimizing, - title = {Optimizing the Universal Robots ROS driver.}, - institution = {Technical University of Denmark, Department of Electrical Engineering}, - author = {Andersen, Thomas Timm}, - year = {2015}, - url = {http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html} - } -``` - - -The report can be downloaded from http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html +# ur_rtde_driver +This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver). diff --git a/include/ur_modern_driver/bin_parser.h b/include/ur_rtde_driver/bin_parser.h similarity index 98% rename from include/ur_modern_driver/bin_parser.h rename to include/ur_rtde_driver/bin_parser.h index a66a368..65baf49 100644 --- a/include/ur_modern_driver/bin_parser.h +++ b/include/ur_rtde_driver/bin_parser.h @@ -26,8 +26,8 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/types.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/types.h" class BinParser { diff --git a/include/ur_modern_driver/event_counter.h b/include/ur_rtde_driver/event_counter.h similarity index 96% rename from include/ur_modern_driver/event_counter.h rename to include/ur_rtde_driver/event_counter.h index e5b73e3..60ff1ea 100644 --- a/include/ur_modern_driver/event_counter.h +++ b/include/ur_rtde_driver/event_counter.h @@ -20,8 +20,8 @@ #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ur/consumer.h" class EventCounter : public URRTPacketConsumer { diff --git a/include/ur_modern_driver/log.h b/include/ur_rtde_driver/log.h similarity index 100% rename from include/ur_modern_driver/log.h rename to include/ur_rtde_driver/log.h diff --git a/include/ur_modern_driver/pipeline.h b/include/ur_rtde_driver/pipeline.h similarity index 98% rename from include/ur_modern_driver/pipeline.h rename to include/ur_rtde_driver/pipeline.h index 48585b6..a855c4f 100644 --- a/include/ur_modern_driver/pipeline.h +++ b/include/ur_rtde_driver/pipeline.h @@ -22,8 +22,8 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/queue/readerwriterqueue.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/queue/readerwriterqueue.h" using namespace moodycamel; using namespace std; diff --git a/include/ur_modern_driver/queue/LICENSE.md b/include/ur_rtde_driver/queue/LICENSE.md similarity index 100% rename from include/ur_modern_driver/queue/LICENSE.md rename to include/ur_rtde_driver/queue/LICENSE.md diff --git a/include/ur_modern_driver/queue/atomicops.h b/include/ur_rtde_driver/queue/atomicops.h similarity index 100% rename from include/ur_modern_driver/queue/atomicops.h rename to include/ur_rtde_driver/queue/atomicops.h diff --git a/include/ur_modern_driver/queue/readerwriterqueue.h b/include/ur_rtde_driver/queue/readerwriterqueue.h similarity index 100% rename from include/ur_modern_driver/queue/readerwriterqueue.h rename to include/ur_rtde_driver/queue/readerwriterqueue.h diff --git a/include/ur_modern_driver/ros/action_server.h b/include/ur_rtde_driver/ros/action_server.h similarity index 91% rename from include/ur_modern_driver/ros/action_server.h rename to include/ur_rtde_driver/ros/action_server.h index 768266e..ffb2eb5 100644 --- a/include/ur_modern_driver/ros/action_server.h +++ b/include/ur_rtde_driver/ros/action_server.h @@ -30,12 +30,12 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ros/service_stopper.h" -#include "ur_modern_driver/ros/trajectory_follower.h" -#include "ur_modern_driver/ur/consumer.h" -#include "ur_modern_driver/ur/master_board.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ros/service_stopper.h" +#include "ur_rtde_driver/ros/trajectory_follower.h" +#include "ur_rtde_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/master_board.h" +#include "ur_rtde_driver/ur/state.h" class ActionServer : public Service, public URRTPacketConsumer { diff --git a/include/ur_modern_driver/ros/action_trajectory_follower_interface.h b/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h similarity index 100% rename from include/ur_modern_driver/ros/action_trajectory_follower_interface.h rename to include/ur_rtde_driver/ros/action_trajectory_follower_interface.h diff --git a/include/ur_modern_driver/ros/controller.h b/include/ur_rtde_driver/ros/controller.h similarity index 92% rename from include/ur_modern_driver/ros/controller.h rename to include/ur_rtde_driver/ros/controller.h index f2c31ab..8e9a0c0 100644 --- a/include/ur_modern_driver/ros/controller.h +++ b/include/ur_rtde_driver/ros/controller.h @@ -24,12 +24,12 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ros/hardware_interface.h" -#include "ur_modern_driver/ros/service_stopper.h" -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/ur/consumer.h" -#include "ur_modern_driver/ur/rt_state.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ros/hardware_interface.h" +#include "ur_rtde_driver/ros/service_stopper.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/rt_state.h" class ROSController : private hardware_interface::RobotHW, public URRTPacketConsumer, public Service { diff --git a/include/ur_modern_driver/ros/hardware_interface.h b/include/ur_rtde_driver/ros/hardware_interface.h similarity index 95% rename from include/ur_modern_driver/ros/hardware_interface.h rename to include/ur_rtde_driver/ros/hardware_interface.h index a8e9923..6e38983 100644 --- a/include/ur_modern_driver/ros/hardware_interface.h +++ b/include/ur_rtde_driver/ros/hardware_interface.h @@ -22,9 +22,9 @@ #include #include #include -#include "ur_modern_driver/ros/trajectory_follower.h" -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/ur/rt_state.h" +#include "ur_rtde_driver/ros/trajectory_follower.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/ur/rt_state.h" class HardwareInterface { diff --git a/include/ur_modern_driver/ros/io_service.h b/include/ur_rtde_driver/ros/io_service.h similarity index 96% rename from include/ur_modern_driver/ros/io_service.h rename to include/ur_rtde_driver/ros/io_service.h index 3c69b12..8a8c961 100644 --- a/include/ur_modern_driver/ros/io_service.h +++ b/include/ur_rtde_driver/ros/io_service.h @@ -25,8 +25,8 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ur/commander.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ur/commander.h" class IOService { diff --git a/include/ur_modern_driver/ros/lowbandwidth_trajectory_follower.h b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h similarity index 89% rename from include/ur_modern_driver/ros/lowbandwidth_trajectory_follower.h rename to include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h index dfc7f84..d12bcf2 100644 --- a/include/ur_modern_driver/ros/lowbandwidth_trajectory_follower.h +++ b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h @@ -24,10 +24,10 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ros/action_trajectory_follower_interface.h" -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/ur/server.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ros/action_trajectory_follower_interface.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/ur/server.h" class LowBandwidthTrajectoryFollower : public ActionTrajectoryFollowerInterface { diff --git a/include/ur_modern_driver/ros/mb_publisher.h b/include/ur_rtde_driver/ros/mb_publisher.h similarity index 98% rename from include/ur_modern_driver/ros/mb_publisher.h rename to include/ur_rtde_driver/ros/mb_publisher.h index 6e64255..445a046 100644 --- a/include/ur_modern_driver/ros/mb_publisher.h +++ b/include/ur_rtde_driver/ros/mb_publisher.h @@ -24,7 +24,7 @@ #include #include -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/consumer.h" using namespace ros; diff --git a/include/ur_modern_driver/ros/rt_publisher.h b/include/ur_rtde_driver/ros/rt_publisher.h similarity index 98% rename from include/ur_modern_driver/ros/rt_publisher.h rename to include/ur_rtde_driver/ros/rt_publisher.h index 8e60620..5623031 100644 --- a/include/ur_modern_driver/ros/rt_publisher.h +++ b/include/ur_rtde_driver/ros/rt_publisher.h @@ -29,7 +29,7 @@ #include #include -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/consumer.h" using namespace ros; using namespace tf; diff --git a/include/ur_modern_driver/ros/service_stopper.h b/include/ur_rtde_driver/ros/service_stopper.h similarity index 96% rename from include/ur_modern_driver/ros/service_stopper.h rename to include/ur_rtde_driver/ros/service_stopper.h index 6afce7a..2829bd1 100644 --- a/include/ur_modern_driver/ros/service_stopper.h +++ b/include/ur_rtde_driver/ros/service_stopper.h @@ -19,8 +19,8 @@ #pragma once #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ur/consumer.h" enum class RobotState { diff --git a/include/ur_modern_driver/ros/trajectory_follower.h b/include/ur_rtde_driver/ros/trajectory_follower.h similarity index 90% rename from include/ur_modern_driver/ros/trajectory_follower.h rename to include/ur_rtde_driver/ros/trajectory_follower.h index 73373e9..5e3dcea 100644 --- a/include/ur_modern_driver/ros/trajectory_follower.h +++ b/include/ur_rtde_driver/ros/trajectory_follower.h @@ -28,10 +28,10 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ros/action_trajectory_follower_interface.h" -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/ur/server.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ros/action_trajectory_follower_interface.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/ur/server.h" class TrajectoryFollower : public ActionTrajectoryFollowerInterface { diff --git a/include/ur_modern_driver/ros/urscript_handler.h b/include/ur_rtde_driver/ros/urscript_handler.h similarity index 89% rename from include/ur_modern_driver/ros/urscript_handler.h rename to include/ur_rtde_driver/ros/urscript_handler.h index 11f36ec..067bce5 100644 --- a/include/ur_modern_driver/ros/urscript_handler.h +++ b/include/ur_rtde_driver/ros/urscript_handler.h @@ -22,9 +22,9 @@ #include #include "std_msgs/String.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ros/service_stopper.h" -#include "ur_modern_driver/ur/commander.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ros/service_stopper.h" +#include "ur_rtde_driver/ur/commander.h" class URScriptHandler : public Service { diff --git a/include/ur_modern_driver/tcp_socket.h b/include/ur_rtde_driver/tcp_socket.h similarity index 100% rename from include/ur_modern_driver/tcp_socket.h rename to include/ur_rtde_driver/tcp_socket.h diff --git a/include/ur_modern_driver/test/random_data.h b/include/ur_rtde_driver/test/random_data.h similarity index 97% rename from include/ur_modern_driver/test/random_data.h rename to include/ur_rtde_driver/test/random_data.h index 76c7672..bdb75b3 100644 --- a/include/ur_modern_driver/test/random_data.h +++ b/include/ur_rtde_driver/test/random_data.h @@ -24,7 +24,7 @@ #include #include #include -#include "ur_modern_driver/bin_parser.h" +#include "ur_rtde_driver/bin_parser.h" class RandomDataTest { diff --git a/include/ur_modern_driver/test/utils.h b/include/ur_rtde_driver/test/utils.h similarity index 100% rename from include/ur_modern_driver/test/utils.h rename to include/ur_rtde_driver/test/utils.h diff --git a/include/ur_modern_driver/types.h b/include/ur_rtde_driver/types.h similarity index 100% rename from include/ur_modern_driver/types.h rename to include/ur_rtde_driver/types.h diff --git a/include/ur_modern_driver/ur/commander.h b/include/ur_rtde_driver/ur/commander.h similarity index 98% rename from include/ur_modern_driver/ur/commander.h rename to include/ur_rtde_driver/ur/commander.h index 6b99b93..73c25be 100644 --- a/include/ur_modern_driver/ur/commander.h +++ b/include/ur_rtde_driver/ur/commander.h @@ -20,7 +20,7 @@ #include #include #include -#include "ur_modern_driver/ur/stream.h" +#include "ur_rtde_driver/ur/stream.h" class URCommander { diff --git a/include/ur_modern_driver/ur/consumer.h b/include/ur_rtde_driver/ur/consumer.h similarity index 87% rename from include/ur_modern_driver/ur/consumer.h rename to include/ur_rtde_driver/ur/consumer.h index dcbe7bc..547af27 100644 --- a/include/ur_modern_driver/ur/consumer.h +++ b/include/ur_rtde_driver/ur/consumer.h @@ -18,12 +18,12 @@ #pragma once -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ur/master_board.h" -#include "ur_modern_driver/ur/messages.h" -#include "ur_modern_driver/ur/robot_mode.h" -#include "ur_modern_driver/ur/rt_state.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ur/master_board.h" +#include "ur_rtde_driver/ur/messages.h" +#include "ur_rtde_driver/ur/robot_mode.h" +#include "ur_rtde_driver/ur/rt_state.h" +#include "ur_rtde_driver/ur/state.h" class URRTPacketConsumer : public IConsumer { diff --git a/include/ur_modern_driver/ur/factory.h b/include/ur_rtde_driver/ur/factory.h similarity index 92% rename from include/ur_modern_driver/ur/factory.h rename to include/ur_rtde_driver/ur/factory.h index bbb2c66..ef0c994 100644 --- a/include/ur_modern_driver/ur/factory.h +++ b/include/ur_rtde_driver/ur/factory.h @@ -19,13 +19,13 @@ #pragma once #include -#include "ur_modern_driver/ur/consumer.h" -#include "ur_modern_driver/ur/messages_parser.h" -#include "ur_modern_driver/ur/parser.h" -#include "ur_modern_driver/ur/producer.h" -#include "ur_modern_driver/ur/rt_parser.h" -#include "ur_modern_driver/ur/state_parser.h" -#include "ur_modern_driver/ur/stream.h" +#include "ur_rtde_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/messages_parser.h" +#include "ur_rtde_driver/ur/parser.h" +#include "ur_rtde_driver/ur/producer.h" +#include "ur_rtde_driver/ur/rt_parser.h" +#include "ur_rtde_driver/ur/state_parser.h" +#include "ur_rtde_driver/ur/stream.h" static const int UR_PRIMARY_PORT = 30001; diff --git a/include/ur_modern_driver/ur/master_board.h b/include/ur_rtde_driver/ur/master_board.h similarity index 96% rename from include/ur_modern_driver/ur/master_board.h rename to include/ur_rtde_driver/ur/master_board.h index 3a14c97..9501b6a 100644 --- a/include/ur_modern_driver/ur/master_board.h +++ b/include/ur_rtde_driver/ur/master_board.h @@ -21,9 +21,9 @@ #include #include #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/types.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/types.h" +#include "ur_rtde_driver/ur/state.h" class SharedMasterBoardData { diff --git a/include/ur_modern_driver/ur/messages.h b/include/ur_rtde_driver/ur/messages.h similarity index 95% rename from include/ur_modern_driver/ur/messages.h rename to include/ur_rtde_driver/ur/messages.h index a5d3fb4..cf348b3 100644 --- a/include/ur_modern_driver/ur/messages.h +++ b/include/ur_rtde_driver/ur/messages.h @@ -20,8 +20,8 @@ #include #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/pipeline.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/pipeline.h" enum class robot_message_type : uint8_t { diff --git a/include/ur_modern_driver/ur/messages_parser.h b/include/ur_rtde_driver/ur/messages_parser.h similarity index 89% rename from include/ur_modern_driver/ur/messages_parser.h rename to include/ur_rtde_driver/ur/messages_parser.h index c89b53d..ea7d482 100644 --- a/include/ur_modern_driver/ur/messages_parser.h +++ b/include/ur_rtde_driver/ur/messages_parser.h @@ -18,11 +18,11 @@ #pragma once #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ur/messages.h" -#include "ur_modern_driver/ur/parser.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ur/messages.h" +#include "ur_rtde_driver/ur/parser.h" class URMessageParser : public URParser { diff --git a/include/ur_modern_driver/ur/parser.h b/include/ur_rtde_driver/ur/parser.h similarity index 91% rename from include/ur_modern_driver/ur/parser.h rename to include/ur_rtde_driver/ur/parser.h index e7df0b5..345d0d7 100644 --- a/include/ur_modern_driver/ur/parser.h +++ b/include/ur_rtde_driver/ur/parser.h @@ -18,8 +18,8 @@ #pragma once #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/pipeline.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/pipeline.h" template class URParser diff --git a/include/ur_modern_driver/ur/producer.h b/include/ur_rtde_driver/ur/producer.h similarity index 94% rename from include/ur_modern_driver/ur/producer.h rename to include/ur_rtde_driver/ur/producer.h index 67a6195..b016e12 100644 --- a/include/ur_modern_driver/ur/producer.h +++ b/include/ur_rtde_driver/ur/producer.h @@ -18,9 +18,9 @@ #pragma once #include -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ur/parser.h" -#include "ur_modern_driver/ur/stream.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ur/parser.h" +#include "ur_rtde_driver/ur/stream.h" template class URProducer : public IProducer diff --git a/include/ur_modern_driver/ur/robot_mode.h b/include/ur_rtde_driver/ur/robot_mode.h similarity index 96% rename from include/ur_modern_driver/ur/robot_mode.h rename to include/ur_rtde_driver/ur/robot_mode.h index a7fd59e..6007887 100644 --- a/include/ur_modern_driver/ur/robot_mode.h +++ b/include/ur_rtde_driver/ur/robot_mode.h @@ -20,9 +20,9 @@ #include #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/types.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/types.h" +#include "ur_rtde_driver/ur/state.h" class SharedRobotModeData { diff --git a/include/ur_modern_driver/ur/rt_parser.h b/include/ur_rtde_driver/ur/rt_parser.h similarity index 88% rename from include/ur_modern_driver/ur/rt_parser.h rename to include/ur_rtde_driver/ur/rt_parser.h index 45b32be..92d3399 100644 --- a/include/ur_modern_driver/ur/rt_parser.h +++ b/include/ur_rtde_driver/ur/rt_parser.h @@ -18,11 +18,11 @@ #pragma once #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ur/parser.h" -#include "ur_modern_driver/ur/rt_state.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ur/parser.h" +#include "ur_rtde_driver/ur/rt_state.h" template class URRTStateParser : public URParser diff --git a/include/ur_modern_driver/ur/rt_state.h b/include/ur_rtde_driver/ur/rt_state.h similarity index 96% rename from include/ur_modern_driver/ur/rt_state.h rename to include/ur_rtde_driver/ur/rt_state.h index 6a0017b..149bf21 100644 --- a/include/ur_modern_driver/ur/rt_state.h +++ b/include/ur_rtde_driver/ur/rt_state.h @@ -20,9 +20,9 @@ #include #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/types.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/types.h" class URRTPacketConsumer; diff --git a/include/ur_modern_driver/ur/server.h b/include/ur_rtde_driver/ur/server.h similarity index 96% rename from include/ur_modern_driver/ur/server.h rename to include/ur_rtde_driver/ur/server.h index 8df4257..5e15385 100644 --- a/include/ur_modern_driver/ur/server.h +++ b/include/ur_rtde_driver/ur/server.h @@ -24,7 +24,7 @@ #include #include #include -#include "ur_modern_driver/tcp_socket.h" +#include "ur_rtde_driver/tcp_socket.h" #define MAX_SERVER_BUF_LEN 50 diff --git a/include/ur_modern_driver/ur/state.h b/include/ur_rtde_driver/ur/state.h similarity index 92% rename from include/ur_modern_driver/ur/state.h rename to include/ur_rtde_driver/ur/state.h index d059a02..50d4668 100644 --- a/include/ur_modern_driver/ur/state.h +++ b/include/ur_rtde_driver/ur/state.h @@ -20,9 +20,9 @@ #include #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/pipeline.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/pipeline.h" enum class package_type : uint8_t { diff --git a/include/ur_modern_driver/ur/state_parser.h b/include/ur_rtde_driver/ur/state_parser.h similarity index 91% rename from include/ur_modern_driver/ur/state_parser.h rename to include/ur_rtde_driver/ur/state_parser.h index c6289f1..51a819e 100644 --- a/include/ur_modern_driver/ur/state_parser.h +++ b/include/ur_rtde_driver/ur/state_parser.h @@ -18,13 +18,13 @@ #pragma once #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ur/master_board.h" -#include "ur_modern_driver/ur/parser.h" -#include "ur_modern_driver/ur/robot_mode.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ur/master_board.h" +#include "ur_rtde_driver/ur/parser.h" +#include "ur_rtde_driver/ur/robot_mode.h" +#include "ur_rtde_driver/ur/state.h" template class URStateParser : public URParser diff --git a/include/ur_modern_driver/ur/stream.h b/include/ur_rtde_driver/ur/stream.h similarity index 95% rename from include/ur_modern_driver/ur/stream.h rename to include/ur_rtde_driver/ur/stream.h index b4d2b3e..38d016f 100644 --- a/include/ur_modern_driver/ur/stream.h +++ b/include/ur_rtde_driver/ur/stream.h @@ -23,8 +23,8 @@ #include #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/tcp_socket.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/tcp_socket.h" class URStream : public TCPSocket { diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch index 942a462..100db45 100644 --- a/launch/ur10_bringup.launch +++ b/launch/ur10_bringup.launch @@ -32,7 +32,7 @@ - + diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch index 749c693..99e77b9 100644 --- a/launch/ur10_bringup_compatible.launch +++ b/launch/ur10_bringup_compatible.launch @@ -33,7 +33,7 @@ - + diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch index 85ff216..34edcfe 100644 --- a/launch/ur10_bringup_joint_limited.launch +++ b/launch/ur10_bringup_joint_limited.launch @@ -26,7 +26,7 @@ - + diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch index 471bfd6..1baf399 100644 --- a/launch/ur10_ros_control.launch +++ b/launch/ur10_ros_control.launch @@ -25,7 +25,7 @@ - + @@ -40,7 +40,7 @@ - + - + diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch index df09555..8179fbf 100644 --- a/launch/ur3_bringup_joint_limited.launch +++ b/launch/ur3_bringup_joint_limited.launch @@ -26,7 +26,7 @@ - + diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch index d778b80..00753b3 100644 --- a/launch/ur3_ros_control.launch +++ b/launch/ur3_ros_control.launch @@ -25,7 +25,7 @@ - + @@ -40,7 +40,7 @@ - + - + diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch index 069c2a6..bf0f67e 100644 --- a/launch/ur5_bringup_compatible.launch +++ b/launch/ur5_bringup_compatible.launch @@ -33,7 +33,7 @@ - + diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch index 1975d3b..60a93f8 100644 --- a/launch/ur5_bringup_joint_limited.launch +++ b/launch/ur5_bringup_joint_limited.launch @@ -26,7 +26,7 @@ - + diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch index d1118e6..6601d9e 100644 --- a/launch/ur5_ros_control.launch +++ b/launch/ur5_ros_control.launch @@ -25,7 +25,7 @@ - + @@ -40,7 +40,7 @@ - + - + diff --git a/package.xml b/package.xml index 6f891ab..2c24c36 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - ur_modern_driver + ur_rtde_driver 0.1.0 The new driver for Universal Robots UR3, UR5 and UR10 robots with CB2 and CB3 controllers. Thomas Timm Andersen @@ -12,9 +12,9 @@ BSD 2-clause Zlib - http://wiki.ros.org/ur_modern_driver - https://github.com/ros-industrial/ur_modern_driver/issues - https://github.com/ros-industrial/ur_modern_driver + http://wiki.ros.org/ur_rtde_driver + https://github.com/ros-industrial/ur_rtde_driver/issues + https://github.com/ros-industrial/ur_rtde_driver catkin diff --git a/src/ros/action_server.cpp b/src/ros/action_server.cpp index 713c4df..ce1f3e6 100644 --- a/src/ros/action_server.cpp +++ b/src/ros/action_server.cpp @@ -18,7 +18,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/action_server.h" +#include "ur_rtde_driver/ros/action_server.h" #include ActionServer::ActionServer(ActionTrajectoryFollowerInterface& follower, std::vector& joint_names, diff --git a/src/ros/controller.cpp b/src/ros/controller.cpp index 3e7b8e4..b2f1fc6 100644 --- a/src/ros/controller.cpp +++ b/src/ros/controller.cpp @@ -16,7 +16,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/controller.h" +#include "ur_rtde_driver/ros/controller.h" ROSController::ROSController(URCommander& commander, TrajectoryFollower& follower, std::vector& joint_names, double max_vel_change, std::string tcp_link) diff --git a/src/ros/hardware_interface.cpp b/src/ros/hardware_interface.cpp index fb77591..aa3a393 100644 --- a/src/ros/hardware_interface.cpp +++ b/src/ros/hardware_interface.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/hardware_interface.h" -#include "ur_modern_driver/log.h" +#include "ur_rtde_driver/ros/hardware_interface.h" +#include "ur_rtde_driver/log.h" const std::string JointInterface::INTERFACE_NAME = "hardware_interface::JointStateInterface"; JointInterface::JointInterface(std::vector &joint_names) diff --git a/src/ros/lowbandwidth_trajectory_follower.cpp b/src/ros/lowbandwidth_trajectory_follower.cpp index 5bbfb0a..4db3190 100644 --- a/src/ros/lowbandwidth_trajectory_follower.cpp +++ b/src/ros/lowbandwidth_trajectory_follower.cpp @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/lowbandwidth_trajectory_follower.h" +#include "ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h" #include #include #include diff --git a/src/ros/mb_publisher.cpp b/src/ros/mb_publisher.cpp index 4d3f33b..62cc4ea 100644 --- a/src/ros/mb_publisher.cpp +++ b/src/ros/mb_publisher.cpp @@ -16,7 +16,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/mb_publisher.h" +#include "ur_rtde_driver/ros/mb_publisher.h" inline void appendAnalog(std::vector& vec, double val, uint8_t pin) { diff --git a/src/ros/rt_publisher.cpp b/src/ros/rt_publisher.cpp index af46c01..1e4a42c 100644 --- a/src/ros/rt_publisher.cpp +++ b/src/ros/rt_publisher.cpp @@ -16,7 +16,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/rt_publisher.h" +#include "ur_rtde_driver/ros/rt_publisher.h" bool RTPublisher::publishJoints(RTShared& packet, Time& t) { diff --git a/src/ros/service_stopper.cpp b/src/ros/service_stopper.cpp index 8211760..af16fbe 100644 --- a/src/ros/service_stopper.cpp +++ b/src/ros/service_stopper.cpp @@ -16,7 +16,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/service_stopper.h" +#include "ur_rtde_driver/ros/service_stopper.h" ServiceStopper::ServiceStopper(std::vector services) : enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this)) diff --git a/src/ros/trajectory_follower.cpp b/src/ros/trajectory_follower.cpp index 0b02d21..58c12fb 100644 --- a/src/ros/trajectory_follower.cpp +++ b/src/ros/trajectory_follower.cpp @@ -16,7 +16,7 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/trajectory_follower.h" +#include "ur_rtde_driver/ros/trajectory_follower.h" #include #include #include diff --git a/src/ros/urscript_handler.cpp b/src/ros/urscript_handler.cpp index c780edb..a49b248 100644 --- a/src/ros/urscript_handler.cpp +++ b/src/ros/urscript_handler.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ros/urscript_handler.h" -#include "ur_modern_driver/log.h" +#include "ur_rtde_driver/ros/urscript_handler.h" +#include "ur_rtde_driver/log.h" URScriptHandler::URScriptHandler(URCommander& commander) : commander_(commander), state_(RobotState::Error) { diff --git a/src/ros_main.cpp b/src/ros_main.cpp index 7ea7fcf..0e842a0 100644 --- a/src/ros_main.cpp +++ b/src/ros_main.cpp @@ -24,24 +24,24 @@ #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/pipeline.h" -#include "ur_modern_driver/ros/action_server.h" -#include "ur_modern_driver/ros/controller.h" -#include "ur_modern_driver/ros/io_service.h" -#include "ur_modern_driver/ros/lowbandwidth_trajectory_follower.h" -#include "ur_modern_driver/ros/mb_publisher.h" -#include "ur_modern_driver/ros/rt_publisher.h" -#include "ur_modern_driver/ros/service_stopper.h" -#include "ur_modern_driver/ros/trajectory_follower.h" -#include "ur_modern_driver/ros/urscript_handler.h" -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/ur/factory.h" -#include "ur_modern_driver/ur/messages.h" -#include "ur_modern_driver/ur/parser.h" -#include "ur_modern_driver/ur/producer.h" -#include "ur_modern_driver/ur/rt_state.h" -#include "ur_modern_driver/ur/state.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/pipeline.h" +#include "ur_rtde_driver/ros/action_server.h" +#include "ur_rtde_driver/ros/controller.h" +#include "ur_rtde_driver/ros/io_service.h" +#include "ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h" +#include "ur_rtde_driver/ros/mb_publisher.h" +#include "ur_rtde_driver/ros/rt_publisher.h" +#include "ur_rtde_driver/ros/service_stopper.h" +#include "ur_rtde_driver/ros/trajectory_follower.h" +#include "ur_rtde_driver/ros/urscript_handler.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/ur/factory.h" +#include "ur_rtde_driver/ur/messages.h" +#include "ur_rtde_driver/ur/parser.h" +#include "ur_rtde_driver/ur/producer.h" +#include "ur_rtde_driver/ur/rt_state.h" +#include "ur_rtde_driver/ur/state.h" static const std::string IP_ADDR_ARG("~robot_ip_address"); static const std::string REVERSE_PORT_ARG("~reverse_port"); diff --git a/src/tcp_socket.cpp b/src/tcp_socket.cpp index 4f34f90..15a614a 100644 --- a/src/tcp_socket.cpp +++ b/src/tcp_socket.cpp @@ -24,8 +24,8 @@ #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/tcp_socket.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/tcp_socket.h" TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid) { diff --git a/src/ur/commander.cpp b/src/ur/commander.cpp index 30bd5be..85bb95c 100644 --- a/src/ur/commander.cpp +++ b/src/ur/commander.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/commander.h" -#include "ur_modern_driver/log.h" +#include "ur_rtde_driver/ur/commander.h" +#include "ur_rtde_driver/log.h" bool URCommander::write(const std::string &s) { diff --git a/src/ur/master_board.cpp b/src/ur/master_board.cpp index 65033e6..e67e54b 100644 --- a/src/ur/master_board.cpp +++ b/src/ur/master_board.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/master_board.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/master_board.h" +#include "ur_rtde_driver/ur/consumer.h" bool SharedMasterBoardData::parseWith(BinParser& bp) { diff --git a/src/ur/messages.cpp b/src/ur/messages.cpp index b4b33dd..2944690 100644 --- a/src/ur/messages.cpp +++ b/src/ur/messages.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/messages.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/messages.h" +#include "ur_rtde_driver/ur/consumer.h" bool VersionMessage::parseWith(BinParser& bp) { diff --git a/src/ur/robot_mode.cpp b/src/ur/robot_mode.cpp index 81bd430..758f57a 100644 --- a/src/ur/robot_mode.cpp +++ b/src/ur/robot_mode.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/robot_mode.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/robot_mode.h" +#include "ur_rtde_driver/ur/consumer.h" bool SharedRobotModeData::parseWith(BinParser& bp) { diff --git a/src/ur/rt_state.cpp b/src/ur/rt_state.cpp index af8c297..6a78951 100644 --- a/src/ur/rt_state.cpp +++ b/src/ur/rt_state.cpp @@ -16,8 +16,8 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/rt_state.h" -#include "ur_modern_driver/ur/consumer.h" +#include "ur_rtde_driver/ur/rt_state.h" +#include "ur_rtde_driver/ur/consumer.h" void RTShared::parse_shared1(BinParser& bp) { diff --git a/src/ur/server.cpp b/src/ur/server.cpp index 60c86c0..1eac797 100644 --- a/src/ur/server.cpp +++ b/src/ur/server.cpp @@ -18,12 +18,12 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/server.h" +#include "ur_rtde_driver/ur/server.h" #include #include #include #include -#include "ur_modern_driver/log.h" +#include "ur_rtde_driver/log.h" URServer::URServer(int port) : port_(port) { diff --git a/src/ur/stream.cpp b/src/ur/stream.cpp index 42b4503..8c4e989 100644 --- a/src/ur/stream.cpp +++ b/src/ur/stream.cpp @@ -21,8 +21,8 @@ #include #include -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/ur/stream.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/ur/stream.h" bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written) { diff --git a/tests/ur/master_board.cpp b/tests/ur/master_board.cpp index 1e446de..3c437ea 100644 --- a/tests/ur/master_board.cpp +++ b/tests/ur/master_board.cpp @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/master_board.h" +#include "ur_rtde_driver/ur/master_board.h" #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/test/random_data.h" -#include "ur_modern_driver/test/utils.h" -#include "ur_modern_driver/types.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/test/random_data.h" +#include "ur_rtde_driver/test/utils.h" +#include "ur_rtde_driver/types.h" TEST(MasterBoardData_V1_X, testRandomDataParsing) { diff --git a/tests/ur/robot_mode.cpp b/tests/ur/robot_mode.cpp index 6c0a3f2..78f4718 100644 --- a/tests/ur/robot_mode.cpp +++ b/tests/ur/robot_mode.cpp @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/robot_mode.h" +#include "ur_rtde_driver/ur/robot_mode.h" #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/test/random_data.h" -#include "ur_modern_driver/test/utils.h" -#include "ur_modern_driver/types.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/test/random_data.h" +#include "ur_rtde_driver/test/utils.h" +#include "ur_rtde_driver/types.h" TEST(RobotModeData_V1_X, testRandomDataParsing) { diff --git a/tests/ur/rt_state.cpp b/tests/ur/rt_state.cpp index 1b8f3c7..8d01833 100644 --- a/tests/ur/rt_state.cpp +++ b/tests/ur/rt_state.cpp @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "ur_modern_driver/ur/rt_state.h" +#include "ur_rtde_driver/ur/rt_state.h" #include -#include "ur_modern_driver/bin_parser.h" -#include "ur_modern_driver/log.h" -#include "ur_modern_driver/test/random_data.h" -#include "ur_modern_driver/test/utils.h" -#include "ur_modern_driver/types.h" +#include "ur_rtde_driver/bin_parser.h" +#include "ur_rtde_driver/log.h" +#include "ur_rtde_driver/test/random_data.h" +#include "ur_rtde_driver/test/utils.h" +#include "ur_rtde_driver/types.h" TEST(RTState_V1_6__7, testRandomDataParsing) {