Felix Mauch
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9135ea9792
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Added README files
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2019-06-17 12:05:40 +02:00 |
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Felix Mauch
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9f91bec413
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Added first version of initial setup
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2019-06-17 12:05:40 +02:00 |
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Lea Steffen
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148c067fcc
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added URCaps enabling communication with rs-485 interface
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2019-06-17 10:39:37 +02:00 |
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Lea Steffen
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44ce02b198
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added URCaps to enable external control
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2019-06-17 10:38:46 +02:00 |
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Felix Mauch
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7468e1535e
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Updated all controller yamls
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2019-06-14 15:18:59 +02:00 |
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Felix Mauch
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ec3b8c133e
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Make all launchfiles follow the ones developed for the ur10s
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2019-06-14 15:18:59 +02:00 |
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Felix Mauch
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7e6b203b67
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replace tcp_accuracy_checker with hash comparison
This closes #34
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2019-06-14 15:18:59 +02:00 |
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Felix Mauch
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34eb8dcf08
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split common and control
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2019-06-14 15:01:28 +02:00 |
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Felix Mauch
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ca3e127f21
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hard code tool_comm to false in CB3 launchfiles
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2019-06-14 15:01:28 +02:00 |
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Tristan Schnell
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fa31081e3a
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removed legacy test and related utilites
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2019-06-14 07:56:13 +02:00 |
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Tristan Schnell
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d88e6f12f4
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added and fixed all licensing headers
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2019-06-13 18:18:04 +02:00 |
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Tristan Schnell
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f2bd2415e9
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formatting fix for producer setup
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2019-06-13 17:42:16 +02:00 |
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Felix Mauch
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30f398ada5
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added module docstring and removed unneeded import
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2019-06-13 17:29:31 +02:00 |
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Tristan Schnell
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6561cbe4c2
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removed no longer needed ur_msgs dependency
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2019-06-13 17:18:18 +02:00 |
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Tristan Schnell
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3aafabec29
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removed unused legacy code
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2019-06-13 17:18:18 +02:00 |
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Tristan Schnell
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d0e995ff7c
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implemented error when trying to start driver without connection to a robot
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2019-06-13 16:09:37 +02:00 |
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Felix Mauch
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fd6a9ee365
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Add a checker to inform the user about an uncalibrated robot.
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2019-06-13 15:43:46 +02:00 |
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Felix Mauch
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c714af16ff
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added a publisher for the tcp pose
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2019-06-13 15:00:20 +02:00 |
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Felix Mauch
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c3d92dcde5
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Use tf for transforming the fts measurements
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2019-06-13 15:00:20 +02:00 |
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Felix Mauch
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eb7b66929b
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added a node to startup RS485 interface
and added it to the launchfiles.
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2019-06-12 17:57:40 +02:00 |
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Tristan Schnell
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e54535bcd3
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added basic controller configs for ur3e and ur5e
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2019-06-12 17:32:12 +02:00 |
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Tristan Schnell
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ec0ec206c0
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adapted all ros_control launch files to start the driver correctly
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2019-06-12 17:32:12 +02:00 |
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Tristan Schnell
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5eed6327ba
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added exceptions for problems in rtde client handshake
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2019-06-12 13:29:30 +02:00 |
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Felix Mauch
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adacb219c7
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corrected naming scheme of fts-transformation
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2019-06-12 12:23:03 +02:00 |
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Felix Mauch
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25e9aafc14
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Added controllers stopper
This node takes care about taking down and restarting controllers based on
the robot's state.
Closes #48
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2019-06-12 12:01:23 +02:00 |
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Tristan Schnell
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ad129da4c1
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reset controllers only on when robot program is started
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2019-06-12 11:44:18 +02:00 |
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Tristan Schnell
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b2503352a9
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fixed requestProgram function in script sender not returning correctly
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2019-06-12 10:36:49 +02:00 |
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Felix Mauch
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75d6ae0a19
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Move debug output to DEBUG stream
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2019-06-12 10:20:13 +02:00 |
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Felix Mauch
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00d20cb501
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removed info about speed scaling rampup
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2019-06-12 10:18:20 +02:00 |
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Felix Mauch
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5f405b3996
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explicitly throw special exception when tool_comm is not available
This way, we can catch it and give a better feedback to the user.
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2019-06-12 09:54:31 +02:00 |
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Felix Mauch
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520cd4d860
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throw exception when tool communication is requested for CB3
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2019-06-12 09:54:31 +02:00 |
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Felix Mauch
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e0201002f6
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introduced VersionInformation
Use this as a data container to store version information in.
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2019-06-12 09:54:31 +02:00 |
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Felix Mauch
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e1e71b5cb4
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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.
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2019-06-12 09:54:27 +02:00 |
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Felix Mauch
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bb36999868
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only join cThread if created
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2019-06-12 09:32:46 +02:00 |
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Felix Mauch
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4cd13b6b83
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implemented initialization of rs485 interface.
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2019-06-12 09:32:46 +02:00 |
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Tristan Schnell
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e4a2e9e743
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renamed hardware interface function that handles changes in robot-program state
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2019-06-11 14:02:07 +02:00 |
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Tristan Schnell
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ac9b4ef73a
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added ros-publishing of changes in the state of the program on the robot
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2019-06-11 14:01:08 +02:00 |
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Tristan Schnell
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6337d4a374
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added ros controller reset when robot program isn't running
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2019-06-11 14:01:02 +02:00 |
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Tristan Schnell
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3f22a2479a
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implemented watchdog
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
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2019-06-11 13:58:55 +02:00 |
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Tristan Schnell
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7e56332b26
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removed no longer used and supported plain driver startup
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2019-06-11 13:19:18 +02:00 |
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Felix Mauch
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c88022eefd
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Introduce UrException as exception base class
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2019-06-11 10:25:50 +02:00 |
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Felix Mauch
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48103aca49
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added header_guards for ur_driver
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2019-06-06 17:37:39 +02:00 |
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Felix Mauch
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c640badfb4
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removed legacy datatypes
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2019-06-06 16:28:56 +02:00 |
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Felix Mauch
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e250128d7e
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fix naming conventions
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2019-06-06 16:28:56 +02:00 |
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Felix Mauch
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9788504f93
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make queue match naming conventions
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2019-06-06 16:28:56 +02:00 |
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Felix Mauch
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212ce85dfe
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Fixed maintainer information in package.xml
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2019-06-06 16:28:56 +02:00 |
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Tristan Schnell
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b22ac7b2c6
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changed new urscript to publish keepalive
Part of #13
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2019-06-06 15:53:53 +02:00 |
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Felix Mauch
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673459e9de
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cleaned up control urscript
Less verbose output and more explicit shutdown. Part of #13
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2019-06-06 15:53:53 +02:00 |
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Felix Mauch
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7b6175d248
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corrected eigen depend tag in package.xml
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2019-06-06 07:46:11 +02:00 |
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Felix Mauch
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00e0fbee3d
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transform fts measurements to tcp
They are reported in base coordinate frame from the robot.
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2019-06-05 17:11:55 +02:00 |
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