Obbart/universal_robots_ros_driver
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Code Releases Activity
521 Commits 12 Branches 1 Tag
fix_socat_dependency
Commit Graph

50 Commits

Author SHA1 Message Date
Felix Mauch
7e6b203b67 replace tcp_accuracy_checker with hash comparison 
This closes #34
 2019-06-14 15:18:59 +02:00
Tristan Schnell
d88e6f12f4 added and fixed all licensing headers 2019-06-13 18:18:04 +02:00
Tristan Schnell
3aafabec29 removed unused legacy code 2019-06-13 17:18:18 +02:00
Felix Mauch
fd6a9ee365 Add a checker to inform the user about an uncalibrated robot. 2019-06-13 15:43:46 +02:00
Felix Mauch
c714af16ff added a publisher for the tcp pose 2019-06-13 15:00:20 +02:00
Felix Mauch
c3d92dcde5 Use tf for transforming the fts measurements 2019-06-13 15:00:20 +02:00
Tristan Schnell
5eed6327ba added exceptions for problems in rtde client handshake 2019-06-12 13:29:30 +02:00
Felix Mauch
adacb219c7 corrected naming scheme of fts-transformation 2019-06-12 12:23:03 +02:00
Tristan Schnell
ad129da4c1 reset controllers only on when robot program is started 2019-06-12 11:44:18 +02:00
Felix Mauch
75d6ae0a19 Move debug output to DEBUG stream 2019-06-12 10:20:13 +02:00
Felix Mauch
00d20cb501 removed info about speed scaling rampup 2019-06-12 10:18:20 +02:00
Felix Mauch
5f405b3996 explicitly throw special exception when tool_comm is not available 
This way, we can catch it and give a better feedback to the user.
 2019-06-12 09:54:31 +02:00
Felix Mauch
520cd4d860 throw exception when tool communication is requested for CB3 2019-06-12 09:54:31 +02:00
Felix Mauch
e0201002f6 introduced VersionInformation 
Use this as a data container to store version information in.
 2019-06-12 09:54:31 +02:00
Felix Mauch
e1e71b5cb4 setup timeout for tcp sockets 
If we want to be able to stop the producer, we'll have to make sure,
it is not hanging inside the recv function because no new packages came in.
 2019-06-12 09:54:27 +02:00
Felix Mauch
4cd13b6b83 implemented initialization of rs485 interface. 2019-06-12 09:32:46 +02:00
Tristan Schnell
e4a2e9e743 renamed hardware interface function that handles changes in robot-program state 2019-06-11 14:02:07 +02:00
Tristan Schnell
ac9b4ef73a added ros-publishing of changes in the state of the program on the robot 2019-06-11 14:01:08 +02:00
Tristan Schnell
6337d4a374 added ros controller reset when robot program isn't running 2019-06-11 14:01:02 +02:00
Tristan Schnell
3f22a2479a implemented watchdog 
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
 2019-06-11 13:58:55 +02:00
Tristan Schnell
7e56332b26 removed no longer used and supported plain driver startup 2019-06-11 13:19:18 +02:00
Felix Mauch
c88022eefd Introduce UrException as exception base class 2019-06-11 10:25:50 +02:00
Felix Mauch
c640badfb4 removed legacy datatypes 2019-06-06 16:28:56 +02:00
Felix Mauch
e250128d7e fix naming conventions 2019-06-06 16:28:56 +02:00
Felix Mauch
00e0fbee3d transform fts measurements to tcp 
They are reported in base coordinate frame from the robot.
 2019-06-05 17:11:55 +02:00
Felix Mauch
45430ec0e7 Added interface for force-torque sensor 
Closes #20
 2019-06-05 17:11:55 +02:00
Felix Mauch
38f1661617 Ramp up after pause 
Ramp up speed scaling on ROS side after the robot has been paused.
Otherwise the robot will overshoot in trying to fill the gap between its
current position and the running target.
 2019-06-04 14:19:29 +02:00
Felix Mauch
ac14f4337c set servoj_gain to 2000 2019-06-04 13:58:33 +02:00
Felix Mauch
4f646bb888 Only send robot commands, when robot is in runtime states PLAYING and 
PAUSING
 2019-06-04 13:57:02 +02:00
Felix Mauch
b15a416d06 Merge branch 'calibration_new' 
This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
 2019-06-03 09:41:59 +02:00
Felix Mauch
a61788f694 use double precision in output of kinematics info 2019-05-28 11:26:27 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Tristan Schnell
649f499499 moved rtde recipe to external text file 2019-05-23 15:19:56 +02:00
Tristan Schnell
a0ea50a031 implemented script_sender and moved sending of robot program 2019-05-23 11:26:50 +02:00
Felix Mauch
89ee1aae8a Load the script from an external file 2019-05-20 12:28:35 +02:00
Felix Mauch
ec31db35b2 removed deprecated code 2019-05-20 11:35:58 +02:00
Felix Mauch
19cb6fa519 do not use ROS logging inside non-ROS code 2019-05-20 11:35:58 +02:00
Felix Mauch
ac5e4d85aa Use correct package header for temp primary client 2019-05-20 11:35:49 +02:00
Felix Mauch
0e0bffcdc6 Use correct naming scheme for variable robot_ip 2019-05-20 11:35:08 +02:00
Felix Mauch
7743c79f6d added separate speed_scaling handle and controller 
In theory that handle could be used to also set the speed_scaling,
done by the controller. However, this is not yet implemented.
 2019-05-16 13:49:45 +02:00
Felix Mauch
35322d208b extrapolate on missing packages 2019-05-16 13:49:22 +02:00
Felix Mauch
f3cdbac4c4 Set step time from robot 2019-05-16 13:49:22 +02:00
Felix Mauch
68835be49b do not timeout on rtde_read 
We should not timeout on that as this is the method of the robot commanding
the cycle time. We should unconditionally act on the robot's events.
 2019-05-16 13:49:22 +02:00
Felix Mauch
9ac939b2b0 correctly shutdown comm threads on exit 2019-05-16 13:49:22 +02:00
Felix Mauch
c79c567412 start main and producer thread with realtime priority 2019-05-16 13:49:22 +02:00
Felix Mauch
e7c97150d5 notify on missing packages 2019-05-16 13:49:22 +02:00
Felix Mauch
b5bf8660be add parameters to URScript program 
Fill parameters on PC side
 2019-05-16 13:49:22 +02:00
Felix Mauch
4106aa9fb8 get frequency from robot 2019-05-16 13:49:22 +02:00
Felix Mauch
f38ec92389 added ur_controllers package 2019-05-16 13:49:19 +02:00
Felix Mauch
be5553648d moved driver to subfolder 2019-05-16 13:48:35 +02:00