Obbart/universal_robots_ros_driver
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Author SHA1 Message Date
Felix Mauch 745b2c5fb7 Renamed the driver to ur_robot_driver 2019-10-07 16:38:06 +02:00
Felix MauchandTristan Schnell 5138ecab82 Simplified calibration interface 
When showing this to collegues it turned out that this was quite complicated.
I reduced the target definition to a simple filename, while documenting
the package approach separately.
 2019-10-07 15:39:07 +02:00
Felix MauchandTristan Schnell 344052d4c7 Updated travis config for migration towards github 2019-10-07 13:04:14 +00:00
Felix MauchandTristan Schnell 0f18242f8d Added section about CPU scaling 2019-10-07 09:24:14 +00:00
Felix MauchandTristan Schnell 55e764090c Updated caption level 2019-10-07 09:24:14 +00:00
Felix MauchandTristan Schnell a5221ebc4e Add a bit more information about ur_controllers package 2019-10-07 09:24:14 +00:00
Felix MauchandTristan Schnell e12fcaf23b Linked controller_stopper and ur_controllers from ur_rtde_driver's README 2019-10-07 09:24:14 +00:00
Felix MauchandTristan Schnell 7008da0816 Added link from top-level README to ur_calibration README. 2019-10-07 09:24:14 +00:00
Felix MauchandTristan Schnell c821235a9d Added link to feature list from main README file 2019-10-07 09:24:14 +00:00
Felix Mauch e2eacd0b2f Set missing default value for tool communication flag 2019-10-07 09:27:24 +02:00
Felix Mauch 9af6389b52 Updated ROS interface showing required parameters 2019-10-01 18:39:42 +02:00
Felix Mauch 39b4d23049 Added doc for headless_mode attribute 2019-10-01 08:57:57 +02:00
Felix Mauch 74e98d6af1 Added ROS API documentation 2019-10-01 08:42:15 +02:00
Felix Mauch f6b52c3d29 Documented launch files 2019-09-30 12:55:39 +02:00
Felix Mauch 2c3e91c95f tcp_port should also be a private parameter 2019-09-30 12:55:39 +02:00
Felix Mauch 9662f2b8ba Added documentation on ROS interfaces 2019-09-30 12:55:39 +02:00
Felix Mauch cdade35e33 Reworded TODO to make it more understandable 2019-09-25 15:03:25 +02:00
Felix Mauch ba98bf8e19 Removed deprecated TODOs 
We only support robot software versions 3.7+
 2019-09-25 15:03:25 +02:00
Felix Mauch 3d315ea5cf Removed "using namespace" from header 2019-09-25 15:03:25 +02:00
Felix MauchandTristan Schnell 62146a49ae Moved getDataPackage functionality to rtde_client 2019-09-25 11:15:13 +00:00
Felix MauchandTristan Schnell ac28aa43c6 Added link to calibration guide 2019-09-25 09:06:20 +00:00
Felix MauchandTristan Schnell aa46db53b8 added overview to README 2019-09-25 09:06:20 +00:00
Felix Mauch 78300be46d Merge branch 'update_doxygen' into master 2019-09-25 09:56:36 +02:00
Felix Mauch 3cc9799b1f Made visitors for DataPackage private 2019-09-25 09:10:35 +02:00
Felix Mauch 3b4bb15147 Added more enum documentation 2019-09-25 09:10:19 +02:00
Felix Mauch bca3a6d524 Corrected minor errors in Doxygen documentation 2019-09-25 08:02:17 +02:00
Felix Mauch a2e9b8a8d8 Corrected rosdoc configuration 2019-09-25 08:01:43 +02:00
Felix Mauch 2ba942bc5a Added note about thrown exception 2019-09-25 07:40:49 +02:00
Felix Mauch 7cd3ca0261 Added link to real-time setup guide 2019-09-25 06:57:49 +02:00
Felix Mauch e4920258a4 formatting 2019-09-25 06:47:54 +02:00
Felix Mauch cf009034c5 Added Lea Steffen and Tristan Schnell as authors 2019-09-24 18:32:15 +02:00
Felix Mauch 66f5600450 Documented tool_communication 2019-09-24 18:32:01 +02:00
Felix MauchandLea Steffen 29b390c915 Added a README to the ur_controllers package 2019-09-24 12:01:49 +00:00
Felix MauchandLea Steffen 58054b2467 Overhauled realtime setup documentation 
Thank to @gavanderhoorn for providing most of the suggestions.
 2019-09-24 11:37:35 +00:00
Felix MauchandLea Steffen 1eb8c07878 Added a note to the realtime requirements together with a link to the setup guide as well as a note about the required ubuntu/ROS version 2019-09-24 08:22:30 +00:00
Felix MauchandLea Steffen ee7e2c5dcb Added error-output on illegal or non-supported setIO function 2019-09-24 07:36:45 +00:00
Felix MauchandLea Steffen f8ecc633ad Set analog input domain on publishing 2019-09-24 07:36:45 +00:00
Felix MauchandLea Steffen d74708d2ee Fixed naming of sendAnalogOutput function 2019-09-24 07:36:45 +00:00
Felix MauchandTristan Schnell 514740f524 build universal_robot from fork 2019-09-19 15:48:53 +00:00
Felix MauchandTristan Schnell 99dccf97c4 Removed deprecated package ur_rtde_msgs 
The only srv has moved to ur_msgs
 2019-09-19 15:48:53 +00:00
Felix MauchandTristan Schnell f3bc62a679 Use SetSpeedSliderFraction.srv from ur_msgs 2019-09-19 15:48:53 +00:00
Felix MauchandTristan Schnell 5123f68488 Use the official ack template from ROSin 2019-09-19 15:20:19 +00:00
Felix MauchandTristan Schnell db6e8f5680 Added an acknowledgment section on the central README file 2019-09-19 15:20:19 +00:00
Felix Mauch 9225d92715 Merge current development into release 2019-09-19 15:32:41 +02:00
Felix MauchandTristan Schnell 6c740665df Added error management on illegal pointer access 2019-09-18 13:44:09 +00:00
Felix MauchandTristan Schnell 54b6da821c subscribe to command topic AFTER the driver has been initialized 2019-09-18 13:44:09 +00:00
Felix MauchandTristan Schnell 2d78248760 Use secondary port with secondary program for sending custom script messages 2019-09-18 13:44:09 +00:00
Felix MauchandTristan Schnell 7597c9fa6c Realtime doc 2019-09-18 13:43:57 +00:00
Felix Mauch 2a634c6681 Merge branch 'update_documentation' into release 2019-09-16 10:51:15 +02:00
Felix Mauch c1fdfba83d updated feature list to current development 2019-09-16 10:50:29 +02:00
Felix Mauch 64d26139c0 Added first version of feature list. 2019-09-16 10:50:29 +02:00
Felix Mauch bea89ba155 improved quick start section 2019-09-16 10:50:29 +02:00
Felix Mauch 9beb634274 Added setup guide for the tool communication 2019-09-16 10:50:29 +02:00
Felix Mauch 27f2170d32 restored release ci and issue templates 2019-08-08 17:41:03 +02:00
Felix Mauch 6ea9bc05ec Release preparation for 0.0.3 2019-08-08 17:14:03 +02:00
Felix Mauch 4a0dba2e03 Added a subscriber to send custom script commands to the robot 2019-08-08 16:54:52 +02:00
Felix Mauch fc53734bb3 Did not disconnect from stream inside producer 2019-08-08 16:54:52 +02:00
Felix MauchandTristan Schnell da53c3b45c Put package information in base package 2019-07-22 17:00:59 +02:00
Felix Mauch 2e71c18f70 added Publisher for tool data 2019-07-22 15:39:10 +02:00
Felix Mauch ff5603e1a3 depend on ur_msgs 2019-07-18 16:08:21 +02:00
Felix Mauch 5c1043205d added standard analog IO 2019-07-18 15:55:27 +02:00
Felix Mauch 369f3594af publish digital IO bits 2019-07-18 15:12:45 +02:00
Felix Mauch a1c53caef3 added function to get rtde data as bitset 2019-07-18 15:12:22 +02:00
Felix Mauch 9a2d890c6d moved reading of rtde values into separate function 2019-07-18 11:49:09 +02:00
Felix Mauch e63de16225 move calibration check to earlier time 
Otherwise it blocks reading RTDE data.
 2019-07-18 11:12:44 +02:00
Felix Mauch 8166bf3d67 do not explicitly stop producers and consumers multiple times 
Let the threads handle taking them down.
 2019-07-16 13:01:13 +02:00
Felix Mauch c38bd99647 move calibration check to ros-independent part 2019-07-16 13:01:13 +02:00
Felix Mauch 4a953be4a4 use rtde interface to query control pc's IP 2019-07-16 13:00:23 +02:00
Felix Mauch 7dd9bc0c55 added log message about program running 2019-07-16 11:53:30 +02:00
Felix Mauch bc683903b7 Added a service to hand back control to the robot 
This way, Ros can  be a part of a larger program.
 2019-07-16 11:05:22 +02:00
Felix Mauch 600dac1dd3 Merged in changes from release repository 2019-07-16 11:04:04 +02:00
Felix MauchandLea Steffen 3993466f24 set controller publish rates to 125 Hz for CB3 robots. 2019-07-15 07:04:14 +00:00
Felix Mauch c714759413 Merge current development 2019-07-04 16:10:46 +02:00
Felix Mauch fe41ad423a Updated version and added CHANGELOG 2019-07-04 12:08:44 +02:00
Felix Mauch 412b6ba54e updated externalcontrol urcap 2019-07-04 10:59:29 +02:00
Felix MauchandTristan Schnell 6979ec35e0 send keepalive signals only if the program is running 
when no program is running, we do not want to fill the buffer anyway.
 2019-07-04 10:44:23 +02:00
Felix Mauch 6aa2670eba print an error message in calibration and exit when connection cannot be established 2019-07-03 19:38:52 +02:00
Felix Mauch 2c91fb23f3 Revert "use gitlab-ci pipeline from https://gitlab.com/VictorLamoine/ros_gitlab_ci" 
This reverts commit 766fb8aaa5.
 2019-07-03 18:17:22 +02:00
Felix Mauch 2afb937bb8 Pass stopped_controllers to underlying launch files 2019-07-03 09:58:50 +02:00
Felix Mauch a6338abad6 by default, deactivate tool_comm and set tool voltage to 0 2019-07-02 07:45:43 +02:00
Felix Mauch 8bbe0274d6 piped device_name and tcp_port for tool communication correctly through all launch files 2019-07-02 07:41:56 +02:00
Felix Mauch d0541298d3 Moved URCap installation to separate files 2019-07-01 22:16:00 +02:00
Felix Mauch ed7ff474fa Merge development branch into release 2019-07-01 13:45:26 +02:00
Felix Mauch 54c04d61f9 Increased the URCap software requirements to 3.7/5.1 2019-07-01 13:24:06 +02:00
Felix Mauch c166033952 Update README about controller topics 2019-06-28 11:59:29 +02:00
Felix Mauch e7b1ea5b33 Added README parts of the default controller topics 2019-06-27 15:23:22 +02:00
Felix Mauch 487b8b55ae Added notes about minimal polyscope versions 2019-06-27 15:16:08 +02:00
Felix Mauch 20eed217a9 Merge branch 'master' into release 
Changes:
 - Support for standard position based controllers
 2019-06-27 14:54:14 +02:00
Felix Mauch 053da5c95f Merge branch 'multiple_controllers' 
Adds support for standard position based controllers and not only our
own ur_controllers.
 2019-06-27 14:53:02 +02:00
Felix MauchandTristan Schnell a6a06526ac disable starting controllers when robot control is inactive 
Since we use the external controller stopper to take down controllers when
robot control is inactive, we also do not want that users can start controllers
while robot control is deactivated. The only exception is at startup time.
 2019-06-27 14:43:40 +02:00
Felix Mauch cb64e68100 define a non-scaled position trajectory controller by default 
This way, users can choose whether they want to use non-scaled controllers
as used by older drivers.
 2019-06-27 13:29:09 +02:00
Felix Mauch 5934de2772 re-added a non-scaled position interface for position controllers 
As this interface uses the same joint names as the scaled interface,
resourced conflicts are already managed by ros_control's resource claim
mechanisms.
 2019-06-27 13:29:09 +02:00
Felix Mauch 14b9dd4f1b send keepalive signal when no (commanding) controller is active 
Otherwise the hardware disconnects as soon as we stop a controller by hand.
 2019-06-27 13:29:09 +02:00
Felix Mauch 8c9f79bc3b turn around order of commands and keepalive 
This way we can leave the commands empty very easily
 2019-06-27 13:29:09 +02:00
Felix Mauch 1caa2c4a97 make ScaledJointHandle inherit from JointHandle 
This reduces code duplication
 2019-06-27 13:29:09 +02:00
Felix Mauch ca2e2f1ed8 Added notes about minimal polyscope versions 2019-06-27 11:16:17 +02:00
Felix Mauch 792c621f82 correct installation location of tool_comm script 2019-06-27 10:23:20 +02:00
Felix Mauch 98a6e05d18 added socat as exec_dependency 
socat was missing as an execution dependency, although is is needed by the
tool_communication script.

This solves #2
 2019-06-27 10:23:06 +02:00
Felix Mauch 7d49801812 activate catkin_lint in the build_kinetic job 2019-06-24 12:54:50 +02:00
Felix Mauch dc0a9dd44d correct installation location of tool_comm script 2019-06-24 12:10:26 +02:00