Obbart/universal_robots_ros_driver
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Code Releases Activity
234 Commits 12 Branches 1 Tag
0c23d0bf3d12d94027e876e6a4b648797ab27a94
Commit Graph

144 Commits

Author SHA1 Message Date
Simon Rasmussen
0c23d0bf3d Added set options function for sockets 2017-05-19 01:23:35 +02:00
Simon Rasmussen
8d845c6f38 Action server improvements 2017-05-19 01:21:23 +02:00
Simon Rasmussen
c59bfc78cc Major refactor 2017-04-27 06:40:03 +02:00
Simon Rasmussen
46f4e493cf Big code dump 2017-04-17 13:04:12 +02:00
Simon Rasmussen
b4bb424058 Fixed minor issues 2017-04-15 01:45:29 +02:00
Simon Rasmussen
dd8169d371 Factory and setup improvements 2017-04-13 10:48:59 +02:00
Simon Rasmussen
97add752a1 Implemented ros control 2017-04-13 10:47:41 +02:00
Simon Rasmussen
2a80601e84 Rt publisher improvement 2017-04-13 10:45:58 +02:00
Simon Rasmussen
bbe2102ac8 Initial implementation of commander 2017-04-13 10:43:31 +02:00
Simon Rasmussen
1e34cdaa37 Improved stream implementation 2017-04-13 10:40:27 +02:00
Simon Rasmussen
a4ca9f1703 Changed masterboard IO data to bitset 2017-04-13 10:34:51 +02:00
Simon Rasmussen
7828304e37 Removed old state file 2017-03-03 03:55:29 +01:00
Simon Rasmussen
474f469e97 Adopted roscpp code style and naming convention 2017-03-01 14:15:40 +01:00
Simon Rasmussen
e4bc40fc09 Fixed minor parsing issues with RTState 2017-03-01 12:40:55 +01:00
Simon Rasmussen
88c582cd58 Fixed log format error 2017-03-01 00:03:44 +01:00
Simon Rasmussen
ff36a13aea Fixed RTState parsing bug 2017-03-01 00:00:03 +01:00
Simon Rasmussen
f8be2834b0 RTPublisher main 2017-02-16 22:52:19 +01:00
Simon Rasmussen
9c1077a779 Improved URStream logging 2017-02-16 22:50:35 +01:00
Simon Rasmussen
b422107c08 Improved RTPublisher 2017-02-16 22:49:10 +01:00
Simon Rasmussen
a78d3eadf3 Added clang formatting 2017-02-16 02:03:40 +01:00
Simon Rasmussen
e00cfac0ee new entry point WIP 2017-02-16 01:54:21 +01:00
Simon Rasmussen
c824c37303 Implemented RT publishing 2017-02-16 01:52:59 +01:00
Simon Rasmussen
c282c961f7 Completed parsing of UR state, messages and RT 2017-02-16 01:52:22 +01:00
Simon Rasmussen
43974dcbf2 Refactoring, improvements and fixes 2017-02-09 12:16:51 +01:00
Simon Rasmussen
e523a5d466 Newline parity between printf and ros logging 2017-02-08 10:33:22 +01:00
Simon Rasmussen
b6eb109cd3 Implemented URStateParser, URRTStateParser and URProducer 2017-02-06 14:39:37 +01:00
Simon Rasmussen
ffe2bbe96a Implemented initial robot state and parsing 2017-02-06 14:26:00 +01:00
Simon Rasmussen
c7bee00cc1 Removed uneeded pipeline.cpp 2017-02-06 14:20:34 +01:00
Simon Rasmussen
efcb738325 Implemented URStream 2017-02-06 14:15:03 +01:00
Simon Rasmussen
c42bdc4075 Implemented abstract pipeline design 2017-01-30 02:29:18 +01:00
Miguel Prada
fe9762e9d5 Expose tool pose/twist from RT when ros_control is active. 
Replicates #20 for the case where ros_control is active.
 2016-11-08 18:38:44 +01:00
Thomas Timm Andersen
e785ce0860 Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47 2016-08-30 11:49:25 +02:00
Thomas Timm Andersen
d8012be697 Merge branch 'master' of https://github.com/ThomasTimm/ur_modern_driver 2016-08-30 11:45:45 +02:00
Miguel Prada
e2f6e995c3 Fix velocity interface after changes in SW > 3.1. 
Behaviour of t parameter in speedj command has changed and requires not to set this (optional) parameter for correct behaviour in SW > 3.1.
 2016-06-15 12:12:06 +02:00
Thomas Timm Andersen
c46005019e Very minor code cleanup 2016-06-14 13:58:56 +02:00
Thomas Timm Andersen
5b22e46450 Changed time base for ros_control. Fixes #44 2016-05-03 10:11:01 +02:00
Simon Jansen
3e17e760fd Fix: New order in digital outputs 
0-7: standard digital out
8-15: configurable digital out
16-17: tool digital out
 2016-03-18 15:42:20 +01:00
Thomas Timm Andersen
0dc244bbe8 Fixed a bug where tool0_controller position was all 0 for ur firmware version 1.8.xx 2016-03-02 17:04:11 +01:00
Thomas Timm Andersen
70279d5ece Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:10:00 +01:00
Thomas Timm Andersen
30b9ee5330 Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:08:40 +01:00
Thomas Timm Andersen
682c77582b Removed info message about setting prefix when prefix is an empty string 2016-02-19 16:02:12 +01:00
Thomas Timm Andersen
adc223cbd8 Added prefix args to ros_control launch files and to the tool0_controller transform frame 2016-02-19 14:58:28 +01:00
hemes
f104b50026 Added check to ensure robot pose matches initial trajectory point. 2016-01-13 15:04:08 -06:00
Thomas Timm Andersen
a3e174626c Added verification of RT message length for firmware versions 1.6 to 3.2 2015-12-03 11:29:21 +01:00
Thomas Timm Andersen
3402db3348 Fixed set_io service to work with 3.x 2015-12-03 10:54:36 +01:00
Jethro Tan
1064510bd1 Ignore malformed messages from UR5 running 1.8.X. 2015-12-02 14:08:51 +01:00
Thomas Timm Andersen
36e20b8567 Merge pull request #20 from smart-robotics/master 
Expose tool pose from RT connection in ROS
 2015-11-16 15:35:44 +01:00
Simon
dc7204fe6e Set reference frame for twist to base_frame_ 2015-11-16 12:52:42 +01:00
Simon
737c8310d5 Catch NaN error if angles are zero 2015-11-16 12:52:15 +01:00
Thomas Timm Andersen
67776ea049 Kill servo_thread in urscript. Fixes #15 2015-11-16 10:28:45 +01:00