Obbart/universal_robots_ros_driver
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implemented setting of standard digital and analog outputs via SetIO service

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This commit is contained in:
Tristan Schnell
2019-07-31 14:57:06 +02:00
parent dc660b854d
commit f628ab353f
6 changed files with 98 additions and 9 deletions
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20
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -218,6 +218,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
speed_slider_sub_ = robot_hw_nh.subscribe("set_speed_slider", 10, &HardwareInterface::speedScalingCallback, this);
set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, this);
deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
@@ -540,4 +542,22 @@ void HardwareInterface::speedScalingCallback(const std_msgs::Float64::ConstPtr&
{
ur_driver_->getRTDEWriter().sendSpeedSlider(msg->data);
}
bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res)
{
if (req.fun == req.FUN_SET_DIGITAL_OUT)
{
res.success = ur_driver_->getRTDEWriter().sendStandardDigitalOutput(req.pin, req.state);
}
else if (req.fun == req.FUN_SET_ANALOG_OUT)
{
res.success = ur_driver_->getRTDEWriter().sendStandardAnalogOuput(req.pin, req.state);
}
else
{
res.success = false;
}
return true;
}
} // namespace ur_driver