Obbart/universal_robots_ros_driver
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Code Releases Activity

Use SetSpeedSliderFraction.srv from ur_msgs

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This commit is contained in:
Felix Mauch
2019-09-19 16:17:20 +02:00
committed by Tristan Schnell
parent 5123f68488
commit f3bc62a679
4 changed files with 6 additions and 9 deletions
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2
ur_rtde_driver/CMakeLists.txt
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@@ -25,7 +25,6 @@ find_package(catkin REQUIRED
trajectory_msgs trajectory_msgs
ur_controllers ur_controllers
ur_msgs ur_msgs
ur_rtde_msgs
) )
find_package(Boost REQUIRED) find_package(Boost REQUIRED)
@@ -50,7 +49,6 @@ catkin_package(
ur_controllers ur_controllers
ur_msgs ur_msgs
std_srvs std_srvs
ur_rtde_msgs
DEPENDS DEPENDS
Boost Boost
) )

4
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -43,12 +43,12 @@
#include <ur_msgs/IOStates.h> #include <ur_msgs/IOStates.h>
#include <ur_msgs/ToolDataMsg.h> #include <ur_msgs/ToolDataMsg.h>
#include <ur_msgs/SetIO.h> #include <ur_msgs/SetIO.h>
#include "ur_msgs/SetSpeedSliderFraction.h"
#include <ur_controllers/speed_scaling_interface.h> #include <ur_controllers/speed_scaling_interface.h>
#include <ur_controllers/scaled_joint_command_interface.h> #include <ur_controllers/scaled_joint_command_interface.h>
#include "ur_rtde_driver/ur/ur_driver.h" #include "ur_rtde_driver/ur/ur_driver.h"
#include "ur_rtde_msgs/SetSpeedSlider.h"
namespace ur_driver namespace ur_driver
{ {
@@ -113,7 +113,7 @@ protected:
void readBitsetData(const std::unique_ptr<rtde_interface::DataPackage>& data_pkg, const std::string& var_name, void readBitsetData(const std::unique_ptr<rtde_interface::DataPackage>& data_pkg, const std::string& var_name,
std::bitset<N>& data); std::bitset<N>& data);
bool setSpeedSlider(ur_rtde_msgs::SetSpeedSliderRequest& req, ur_rtde_msgs::SetSpeedSliderResponse& res); bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res); bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
void commandCallback(const std_msgs::StringConstPtr& msg); void commandCallback(const std_msgs::StringConstPtr& msg);

1
ur_rtde_driver/package.xml
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@@ -35,7 +35,6 @@
<depend>ur_controllers</depend> <depend>ur_controllers</depend>
<depend>ur_msgs</depend> <depend>ur_msgs</depend>
<depend>std_srvs</depend> <depend>std_srvs</depend>
<depend>ur_rtde_msgs</depend>
<exec_depend>force_torque_sensor_controller</exec_depend> <exec_depend>force_torque_sensor_controller</exec_depend>
<exec_depend>joint_state_controller</exec_depend> <exec_depend>joint_state_controller</exec_depend>

8
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -538,12 +538,12 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
return true; return true;
} }
bool HardwareInterface::setSpeedSlider(ur_rtde_msgs::SetSpeedSliderRequest& req, bool HardwareInterface::setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req,
ur_rtde_msgs::SetSpeedSliderResponse& res) ur_msgs::SetSpeedSliderFractionResponse& res)
{ {
if (req.data >= 0.01 && req.data <= 1.0 && ur_driver_ != nullptr) if (req.speed_slider_fraction >= 0.01 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)
{ {
res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.data); res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.speed_slider_fraction);
} }
else else
{ {