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
19cb6fa519
do not use ROS logging inside non-ROS code
2019-05-20 11:35:58 +02:00
ac5e4d85aa
Use correct package header for temp primary client
2019-05-20 11:35:49 +02:00
0e0bffcdc6
Use correct naming scheme for variable robot_ip
2019-05-20 11:35:08 +02:00
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
35322d208b
extrapolate on missing packages
2019-05-16 13:49:22 +02:00
f3cdbac4c4
Set step time from robot
2019-05-16 13:49:22 +02:00
68835be49b
do not timeout on rtde_read
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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
9ac939b2b0
correctly shutdown comm threads on exit
2019-05-16 13:49:22 +02:00
c79c567412
start main and producer thread with realtime priority
2019-05-16 13:49:22 +02:00
e7c97150d5
notify on missing packages
2019-05-16 13:49:22 +02:00
b5bf8660be
add parameters to URScript program
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Fill parameters on PC side
2019-05-16 13:49:22 +02:00
4106aa9fb8
get frequency from robot
2019-05-16 13:49:22 +02:00
f38ec92389
added ur_controllers package
2019-05-16 13:49:19 +02:00
be5553648d
moved driver to subfolder
2019-05-16 13:48:35 +02:00
7a31b25e38
added first version of speed scaling readings
2019-05-16 13:48:31 +02:00
5bbeae1c8f
Use new gitlab-ci's include functionality
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Also removed clang-tidy check, as it became part of our global pipeline
2019-05-06 15:26:18 +02:00
9bafd44687
added handling of protocol-version 1 and CB3 robots
2019-04-17 16:53:39 +02:00
736cd36940
removed unnecessary const classifier
2019-04-16 09:30:45 +02:00
639da94588
Only write position commands if a position controller is active.
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Fixes #19
2019-04-16 09:30:27 +02:00
d7f065a22d
Upload URScript via primary interface
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Note: This will probably be changed later, but currently that's the
easiest way to handle this.
2019-04-16 09:29:38 +02:00
4c0aea4c4f
added reverse client to publish targets to the robot
2019-04-11 18:16:15 +02:00
Felix Mauch
Tristan Schnell