48103aca49
added header_guards for ur_driver
2019-06-06 17:37:39 +02:00
c640badfb4
removed legacy datatypes
2019-06-06 16:28:56 +02:00
e250128d7e
fix naming conventions
2019-06-06 16:28:56 +02:00
9788504f93
make queue match naming conventions
2019-06-06 16:28:56 +02:00
212ce85dfe
Fixed maintainer information in package.xml
2019-06-06 16:28:56 +02:00
b22ac7b2c6
changed new urscript to publish keepalive
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Part of #13
2019-06-06 15:53:53 +02:00
673459e9de
cleaned up control urscript
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Less verbose output and more explicit shutdown. Part of #13
2019-06-06 15:53:53 +02:00
7b6175d248
corrected eigen depend tag in package.xml
2019-06-06 07:46:11 +02:00
00e0fbee3d
transform fts measurements to tcp
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They are reported in base coordinate frame from the robot.
2019-06-05 17:11:55 +02:00
45430ec0e7
Added interface for force-torque sensor
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Closes #20
2019-06-05 17:11:55 +02:00
38f1661617
Ramp up after pause
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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
118f938543
e-series adaption
2019-06-04 13:58:33 +02:00
ac14f4337c
set servoj_gain to 2000
2019-06-04 13:58:33 +02:00
4f646bb888
Only send robot commands, when robot is in runtime states PLAYING and
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PAUSING
2019-06-04 13:57:02 +02:00
765812b4ae
Use ros-independent logging commands in pipeline.
2019-06-03 09:57:43 +02:00
b15a416d06
Merge branch 'calibration_new'
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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
db8bf458ee
Added README file
2019-05-29 09:05:56 +02:00
6adda40a3f
Cleaned up legacy code and updated documentation.
2019-05-29 09:05:56 +02:00
a603e9bb97
Improved handling of invalid save paths
2019-05-29 08:32:26 +02:00
0cced4a6c3
Define where the output file should go by a parameter
2019-05-28 16:53:08 +02:00
118b083ce8
sleep less before checking for calibration
2019-05-28 16:53:08 +02:00
c50556cc8a
move real-value examples to other tests
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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
be0cb7f531
fix namespace move
2019-05-28 11:45:19 +02:00
a61788f694
use double precision in output of kinematics info
2019-05-28 11:26:27 +02:00
157b5a696c
Made calibration extraction a working node.
2019-05-28 10:03:23 +02:00
22f392222e
Pipeline: Stop on destruction explicitly
2019-05-28 09:49:33 +02:00
73624533b9
Fixed a couple of includes
2019-05-28 09:48:59 +02:00
2df2c4176f
corrected default accuracy
2019-05-27 19:04:24 +02:00
afc1161b1d
correctly depend on yaml-cpp
2019-05-27 18:42:17 +02:00
312fe8b1b7
moved calibration to own repository
2019-05-27 18:30:15 +02:00
ceb00d8d6d
output simplified chain
2019-05-27 15:26:10 +02:00
f00f76d508
code formatting
2019-05-27 15:26:10 +02:00
4113f3ab2a
Result in 6-jointed chain
2019-05-27 15:26:10 +02:00
bab303e83c
Cleaned up tests
2019-05-27 15:26:10 +02:00
3d93dd4226
manually set corrections to 0
2019-05-27 15:26:10 +02:00
8d3b787b27
also check for rotation errors
2019-05-27 15:26:10 +02:00
579a39a7df
check multiple calibrations in one run
2019-05-27 15:26:10 +02:00
281d4c3955
test 1000 random joint states in fk test
2019-05-27 15:26:10 +02:00
f373eca92b
adding changed d parameter of next element to output
2019-05-27 15:26:10 +02:00
c96338c9e7
create xacro properties again
2019-05-27 15:26:10 +02:00
bc15944fa1
Use plain Eigen for kinematics
2019-05-27 15:26:10 +02:00
8a9192aeba
reduce output during testing
2019-05-27 15:26:10 +02:00
eaae523484
implemented a prototype for an integration test for calibration
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We should put this into a proper calibration test.
2019-05-27 15:26:10 +02:00
792cdc3a08
added unit tests for calibration
2019-05-27 15:26:10 +02:00
d2eb7a8683
added first version of calibration
2019-05-27 15:26:06 +02:00
649f499499
moved rtde recipe to external text file
2019-05-23 15:19:56 +02:00
876d4a06f5
edited script for use in URCaps
2019-05-23 11:26:50 +02:00
a0ea50a031
implemented script_sender and moved sending of robot program
2019-05-23 11:26:50 +02:00
89ee1aae8a
Load the script from an external file
2019-05-20 12:28:35 +02:00
ec31db35b2
removed deprecated code
2019-05-20 11:35:58 +02:00
Felix Mauch
Tristan Schnell