Felix Mauch
adacb219c7
corrected naming scheme of fts-transformation
2019-06-12 12:23:03 +02:00
Felix Mauch
25e9aafc14
Added controllers stopper
...
This node takes care about taking down and restarting controllers based on
the robot's state.
Closes #48
2019-06-12 12:01:23 +02:00
Tristan Schnell
ad129da4c1
reset controllers only on when robot program is started
2019-06-12 11:44:18 +02:00
Tristan Schnell
b2503352a9
fixed requestProgram function in script sender not returning correctly
2019-06-12 10:36:49 +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
bb36999868
only join cThread if created
2019-06-12 09:32:46 +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
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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
48103aca49
added header_guards for ur_driver
2019-06-06 17:37:39 +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
9788504f93
make queue match naming conventions
2019-06-06 16:28:56 +02:00
Felix Mauch
212ce85dfe
Fixed maintainer information in package.xml
2019-06-06 16:28:56 +02:00
Tristan Schnell
b22ac7b2c6
changed new urscript to publish keepalive
...
Part of #13
2019-06-06 15:53:53 +02:00
Felix Mauch
673459e9de
cleaned up control urscript
...
Less verbose output and more explicit shutdown. Part of #13
2019-06-06 15:53:53 +02:00
Felix Mauch
7b6175d248
corrected eigen depend tag in package.xml
2019-06-06 07:46:11 +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
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
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
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
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
