Obbart/universal_robots_ros_driver
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Set step time from robot

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This commit is contained in:
Felix Mauch
2019-05-09 16:31:20 +02:00
parent 68835be49b
commit f3cdbac4c4
1 changed files with 8 additions and 6 deletions
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14
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -42,7 +42,8 @@ static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
static const std::string POSITION_PROGRAM = R"(
def myProg():
textmsg("hello")
global steptime = get_steptime()
textmsg("steptime=", steptime)
MULT_jointstate = {{JOINT_STATE_REPLACE}}
SERVO_IDLE = 0
@@ -69,10 +70,11 @@ def myProg():
cmd_servo_state = SERVO_IDLE
exit_critical
if do_brake:
textmsg("No new setpoint received. Stopping robot.")
stopj(1.0)
sync()
elif state == SERVO_RUNNING:
servoj(q, {{SERVO_J_REPLACE}})
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
else:
sync()
end
@@ -85,7 +87,7 @@ def myProg():
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, "reverse_socket", 0.002)
params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.012)
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]
@@ -96,6 +98,7 @@ def myProg():
end
sync()
end
stopj(1.0)
sleep(.1)
socket_close()
kill thread_servo
@@ -103,7 +106,7 @@ end
)";
ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
: servoj_time_(0.002), servoj_gain_(750), servoj_lookahead_time_(0.03)
: servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
{
ROS_INFO_STREAM("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_));
@@ -125,8 +128,7 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
std::string prog = POSITION_PROGRAM;
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
std::ostringstream out;
out << "t=" << std::fixed << std::setprecision(4) << servoj_time_;
out << ", lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
out << "lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));