Obbart/universal_robots_ros_driver
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Author SHA1 Message Date
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
118f938543 e-series adaption 2019-06-04 13:58:33 +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
765812b4ae Use ros-independent logging commands in pipeline. 2019-06-03 09:57:43 +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
db8bf458ee Added README file 2019-05-29 09:05:56 +02:00
Felix Mauch
6adda40a3f Cleaned up legacy code and updated documentation. 2019-05-29 09:05:56 +02:00
Felix Mauch
a603e9bb97 Improved handling of invalid save paths 2019-05-29 08:32:26 +02:00
Felix Mauch
0cced4a6c3 Define where the output file should go by a parameter 2019-05-28 16:53:08 +02:00
Felix Mauch
118b083ce8 sleep less before checking for calibration 2019-05-28 16:53:08 +02:00
Felix Mauch
c50556cc8a move real-value examples to other tests 
The ideal robot uses a non-perfect approximation for pi, which results in
larger errors (magnitude 10e-8) when comparing against a model with a more
exact pi. Therefore, we use the "UR-pi" for real-value test model.
 2019-05-28 16:53:08 +02:00
Felix Mauch
be0cb7f531 fix namespace move 2019-05-28 11:45:19 +02:00
Felix Mauch
a61788f694 use double precision in output of kinematics info 2019-05-28 11:26:27 +02:00
Felix Mauch
157b5a696c Made calibration extraction a working node. 2019-05-28 10:03:23 +02:00
Felix Mauch
22f392222e Pipeline: Stop on destruction explicitly 2019-05-28 09:49:33 +02:00
Felix Mauch
73624533b9 Fixed a couple of includes 2019-05-28 09:48:59 +02:00
Felix Mauch
2df2c4176f corrected default accuracy 2019-05-27 19:04:24 +02:00
Felix Mauch
afc1161b1d correctly depend on yaml-cpp 2019-05-27 18:42:17 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Felix Mauch
ceb00d8d6d output simplified chain 2019-05-27 15:26:10 +02:00
Felix Mauch
f00f76d508 code formatting 2019-05-27 15:26:10 +02:00
Felix Mauch
4113f3ab2a Result in 6-jointed chain 2019-05-27 15:26:10 +02:00
Felix Mauch
bab303e83c Cleaned up tests 2019-05-27 15:26:10 +02:00
Felix Mauch
3d93dd4226 manually set corrections to 0 2019-05-27 15:26:10 +02:00
Felix Mauch
8d3b787b27 also check for rotation errors 2019-05-27 15:26:10 +02:00
Felix Mauch
579a39a7df check multiple calibrations in one run 2019-05-27 15:26:10 +02:00
Felix Mauch
281d4c3955 test 1000 random joint states in fk test 2019-05-27 15:26:10 +02:00
Felix Mauch
f373eca92b adding changed d parameter of next element to output 2019-05-27 15:26:10 +02:00
Felix Mauch
c96338c9e7 create xacro properties again 2019-05-27 15:26:10 +02:00
Felix Mauch
bc15944fa1 Use plain Eigen for kinematics 2019-05-27 15:26:10 +02:00
Felix Mauch
8a9192aeba reduce output during testing 2019-05-27 15:26:10 +02:00
Felix Mauch
eaae523484 implemented a prototype for an integration test for calibration 
We should put this into a proper calibration test.
 2019-05-27 15:26:10 +02:00
Felix Mauch
792cdc3a08 added unit tests for calibration 2019-05-27 15:26:10 +02:00
Felix Mauch
d2eb7a8683 added first version of calibration 2019-05-27 15:26:06 +02:00
Tristan Schnell
649f499499 moved rtde recipe to external text file 2019-05-23 15:19:56 +02:00
Tristan Schnell
876d4a06f5 edited script for use in URCaps 2019-05-23 11:26:50 +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