Obbart/universal_robots_ros_driver
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Added sanity check to setSpeed input

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Thomas Timm Andersen
2015-09-17 10:10:45 +02:00
parent 98a52b0255
commit ff8b5522a2
2 changed files with 13 additions and 11 deletions
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2
README.md
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@@ -41,7 +41,7 @@ Besides this, the driver subscribes to two new topics:
*/joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint 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. */joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint 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.
This driver is written in c++, which should make it possible to integrate it with ros_control. If you fell like undertaking this task, please dive right in. I don't have the posibility to do this. This driver is written in c++, which should make it possible to integrate it with ros_control. If you feel like undertaking this task, please dive right in. I don't have the posibility to do this.
No script is sent to the robot. This means that the teach pendant can be used to move the robot around while the driver is running. No script is sent to the robot. This means that the teach pendant can be used to move the robot around while the driver is running.

12
src/ur_ros_wrapper.cpp
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@@ -88,12 +88,10 @@ public:
double min_payload = 0.; double min_payload = 0.;
double max_payload = 1.; double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) { if (ros::param::get("~min_payload", min_payload)) {
ROS_DEBUG("Min payload set to: %f [kg]", ROS_DEBUG("Min payload set to: %f [kg]", min_payload);
min_payload);
} }
if (ros::param::get("~max_payload", max_payload)) { if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload set to: %f [kg]", ROS_DEBUG("Max payload set to: %f [kg]", max_payload);
max_payload);
} }
robot_.setMinPayload(min_payload); robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload); robot_.setMaxPayload(max_payload);
@@ -317,12 +315,16 @@ private:
} }
void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) { void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) {
double acc = *std::max_element(msg->points[0].accelerations.begin(), if (msg->points[0].velocities.size() == 6) {
double acc = 100;
if (msg->points[0].accelerations.size() > 0)
acc = *std::max_element(msg->points[0].accelerations.begin(),
msg->points[0].accelerations.end()); msg->points[0].accelerations.end());
robot_.setSpeed(msg->points[0].velocities[0], robot_.setSpeed(msg->points[0].velocities[0],
msg->points[0].velocities[1], msg->points[0].velocities[2], msg->points[0].velocities[1], msg->points[0].velocities[2],
msg->points[0].velocities[3], msg->points[0].velocities[4], msg->points[0].velocities[3], msg->points[0].velocities[4],
msg->points[0].velocities[5], acc); msg->points[0].velocities[5], acc);
}
} }
void urscriptInterface(const std_msgs::String::ConstPtr& msg) { void urscriptInterface(const std_msgs::String::ConstPtr& msg) {