Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity
99 Commits 12 Branches 1 Tag
0c901bd7e34df3db8da4ca3806aef3a6d70ae63e
Commit Graph

77 Commits

Author SHA1 Message Date
Thomas Timm Andersen
6b6ded461b Improved goal handling. 
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
 2015-10-09 14:39:24 +02:00
Thomas Timm Andersen
d8602c2246 Added detection of E-stop and protective stop. 2015-10-09 13:18:38 +02:00
Thomas Timm Andersen
80e344d167 Fixed an issue where canceling a trajectory wouldn't stop the robot. 2015-10-09 10:47:29 +02:00
Thomas Timm Andersen
e354ada3ab changed to use goal_handle_ instead of goal_ 2015-10-08 17:23:19 +02:00
Thomas Timm Andersen
e970a99b01 fixed typo in error string 2015-10-08 17:04:31 +02:00
Thomas Timm Andersen
d4102dd97d Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in 
non-ros-control mode
 2015-10-08 17:01:37 +02:00
Thomas Timm Andersen
d8b8d86ecb Changed minimum servoj time. Fixes #3 2015-10-08 15:50:22 +02:00
Thomas Timm Andersen
52b68cbd9c Stop sending data to servoj when stopTraj is called 2015-10-08 15:48:05 +02:00
Thomas Timm Andersen
1d54bcca1d Stop sending data to servoj when stopTraj is called 2015-10-08 15:47:39 +02:00
Thomas Timm Andersen
8c9595bbf2 Merge branch 'speed_rate_limit' 2015-10-08 15:38:50 +02:00
Thomas Timm Andersen
589dca8e2a Improved ros_control performance and stability 2015-10-08 15:37:49 +02:00
Thomas Timm Andersen
f592d2189a Added a check to incoming goals to see if there are any points in the trajectory 2015-10-08 13:44:24 +02:00
Thomas Timm Andersen
22e7d799c2 Changed the servoj loop time for better stability 2015-10-01 12:28:16 +02:00
Thomas Timm Andersen
68b751cdcc Fixed order of starting and stopping controllers 2015-09-25 10:19:58 +02:00
Thomas Timm Andersen
5c785af6c4 Included a position-based controller. Also prettied up printing 2015-09-25 09:57:33 +02:00
Thomas Timm Andersen
ba96d0f098 Split servoj into several functions for reuseability 2015-09-24 16:51:18 +02:00
Thomas Timm Andersen
402f5c0170 Removed old description carried over from boilerplate 2015-09-24 16:39:13 +02:00
Thomas Timm Andersen
a2c074eec4 Added parameter to use eiter ros_control or old-style interface 2015-09-24 16:37:14 +02:00
Thomas Timm Andersen
6f3bd5d06f Added catch in case communication fails 2015-09-24 16:26:19 +02:00
Thomas Timm Andersen
5ccd97a276 Merge branch 'master' into ros-control 
Conflicts:
	src/ur_communication.cpp
 2015-09-24 16:17:18 +02:00
Thomas Timm Andersen
6e9f646b02 Added reconnect to secondary port 2015-09-24 16:10:33 +02:00
Thomas Timm Andersen
039664a1a3 Added reconnect to RT port 2015-09-24 15:47:47 +02:00
Thomas Timm Andersen
7c6080e89e Added reconnect feature on RT port 2015-09-24 15:36:54 +02:00
Thomas Timm Andersen
639597eacd Re-included io_states publisher 2015-09-24 14:11:07 +02:00
Thomas Timm Andersen
1e8f13f232 Added control switching 2015-09-24 13:50:53 +02:00
Thomas Timm Andersen
af601b9c32 Implemented ros-control 2015-09-24 10:27:55 +02:00
Thomas Timm Andersen
d5ea350145 Verified all functionality on all simulators 2015-09-22 13:40:03 +02:00
Thomas Timm Andersen
fdcf4936de Deleted some commented code 2015-09-22 12:40:31 +02:00
Thomas Timm Andersen
46e97f1e57 Deleted some commented code 2015-09-22 12:39:24 +02:00
Thomas Timm Andersen
1e7f15e49b Removed wait in accept_goal 2015-09-22 12:26:22 +02:00
Thomas Timm Andersen
64a33bf5ed Changed how trajectories are handled to try and speed things up 2015-09-22 10:34:09 +02:00
Thomas Timm Andersen
c4af674faa Changed how trajectories are handled to try and speed things up 2015-09-22 10:29:44 +02:00
Thomas Timm Andersen
208995d8f3 Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step 2015-09-18 15:00:36 +02:00
Thomas Timm Andersen
36c8b70ba0 Removed commented code and non-RT socket write 2015-09-17 13:59:42 +02:00
Thomas Timm Andersen
0310193b15 Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs 2015-09-17 13:40:16 +02:00
Thomas Timm Andersen
fc219e4eee Limited the published IO state to 10 for pre 3.0 2015-09-17 13:29:55 +02:00
Thomas Timm Andersen
ff8b5522a2 Added sanity check to setSpeed input 2015-09-17 10:10:45 +02:00
Thomas Timm Andersen
22d51874e5 Fixed printing of version string 2015-09-17 10:00:26 +02:00
Thomas Timm Andersen
69feb3937d Sending commands to the robot is now async of reading 2015-09-17 09:50:34 +02:00
Thomas Timm Andersen
8e4cb945d6 Fixed version bound check in RT message parsing 2015-09-17 09:19:12 +02:00
Thomas Timm Andersen
d866036fa4 Fixed bug for RT message garbage in 3.0 2015-09-16 16:24:29 +02:00
Thomas Timm Andersen
a48642f1aa Fixed a bug related to malformed RT messages in 3.0. 
updated readme
 2015-09-16 16:16:11 +02:00
Thomas Timm Andersen
834136a997 Fixed a bug related to malformed RT messages in 3.0. 
updated readme
 2015-09-16 16:14:51 +02:00
Thomas Timm Andersen
61dac1e977 Added som ROS_DEBUG messages for IO states 2015-09-16 15:11:49 +02:00
Thomas Timm Andersen
12b92c14db Bugfixes in URScript commands 2015-09-16 15:08:46 +02:00
Thomas Timm Andersen
1b995a928b ROSify output based on compiler flag 2015-09-16 14:06:39 +02:00
Thomas Timm Andersen
fb95d2188d Tested and bugfixed masterboard data parsing 2015-09-16 13:38:21 +02:00
Thomas Timm Andersen
699bc08ac6 Added ROS publisher of IOStates 2015-09-16 11:42:55 +02:00
Thomas Timm Andersen
0feb493799 Parsing masterboard data 2015-09-16 11:26:06 +02:00
Thomas Timm Andersen
8f3ae49e28 Added URScript interface - untested 2015-09-15 17:23:57 +02:00