Obbart/universal_robots_ros_driver
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620 Commits 12 Branches 1 Tag
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Author SHA1 Message Date
Felix Mauch
369f3594af publish digital IO bits 2019-07-18 15:12:45 +02:00
Felix Mauch
a1c53caef3 added function to get rtde data as bitset 2019-07-18 15:12:22 +02:00
Felix Mauch
9a2d890c6d moved reading of rtde values into separate function 2019-07-18 11:49:09 +02:00
Felix Mauch
e63de16225 move calibration check to earlier time 
Otherwise it blocks reading RTDE data.
 2019-07-18 11:12:44 +02:00
Felix Mauch
8166bf3d67 do not explicitly stop producers and consumers multiple times 
Let the threads handle taking them down.
 2019-07-16 13:01:13 +02:00
Felix Mauch
c38bd99647 move calibration check to ros-independent part 2019-07-16 13:01:13 +02:00
Felix Mauch
4a953be4a4 use rtde interface to query control pc's IP 2019-07-16 13:00:23 +02:00
Felix Mauch
7dd9bc0c55 added log message about program running 2019-07-16 11:53:30 +02:00
Felix Mauch
bc683903b7 Added a service to hand back control to the robot 
This way, Ros can  be a part of a larger program.
 2019-07-16 11:05:22 +02:00
Felix Mauch
600dac1dd3 Merged in changes from release repository 2019-07-16 11:04:04 +02:00
gavanderhoorn
03e7030872 rtde_client: fix typos. 2019-07-15 07:49:48 +00:00
Felix Mauch
3993466f24 set controller publish rates to 125 Hz for CB3 robots. 2019-07-15 07:04:14 +00:00
gavanderhoorn
513ff9143d rtde_driver: don't unnecessarily repeat joint names. 
Use an anchor for the list and aliases where needed.
 2019-07-14 15:06:00 +02:00
Felix Mauch
c714759413 Merge current development v0.0.2 2019-07-04 16:10:46 +02:00
Felix Mauch
fe41ad423a Updated version and added CHANGELOG 2019-07-04 12:08:44 +02:00
Felix Mauch
412b6ba54e updated externalcontrol urcap 2019-07-04 10:59:29 +02:00
Felix Mauch
6979ec35e0 send keepalive signals only if the program is running 
when no program is running, we do not want to fill the buffer anyway.
 2019-07-04 10:44:23 +02:00
Felix Mauch
6aa2670eba print an error message in calibration and exit when connection cannot be established 2019-07-03 19:38:52 +02:00
Felix Mauch
2c91fb23f3 Revert "use gitlab-ci pipeline from https://gitlab.com/VictorLamoine/ros_gitlab_ci" 
This reverts commit 766fb8aaa5.
 2019-07-03 18:17:22 +02:00
Felix Mauch
2afb937bb8 Pass stopped_controllers to underlying launch files 2019-07-03 09:58:50 +02:00
Felix Mauch
a6338abad6 by default, deactivate tool_comm and set tool voltage to 0 2019-07-02 07:45:43 +02:00
Felix Mauch
8bbe0274d6 piped device_name and tcp_port for tool communication correctly through all launch files 2019-07-02 07:41:56 +02:00
Felix Mauch
d0541298d3 Moved URCap installation to separate files 2019-07-01 22:16:00 +02:00
Felix Mauch
ed7ff474fa Merge development branch into release 2019-07-01 13:45:26 +02:00
Felix Mauch
54c04d61f9 Increased the URCap software requirements to 3.7/5.1 2019-07-01 13:24:06 +02:00
Felix Mauch
c166033952 Update README about controller topics 2019-06-28 11:59:29 +02:00
Felix Mauch
e7b1ea5b33 Added README parts of the default controller topics 2019-06-27 15:23:22 +02:00
Felix Mauch
487b8b55ae Added notes about minimal polyscope versions 2019-06-27 15:16:08 +02:00
Rune Søe-Knudsen
07ccfc094e Change to the front README file 
- Change to the introduction with a purpose of this driver
 - Add a comment of how to report issues
 - Fix a small type in one of the examples
 2019-06-27 15:15:57 +02:00
Felix Mauch
20eed217a9 Merge branch 'master' into release 
Changes:
 - Support for standard position based controllers
 2019-06-27 14:54:14 +02:00
Felix Mauch
053da5c95f Merge branch 'multiple_controllers' 
Adds support for standard position based controllers and not only our
own ur_controllers.
 2019-06-27 14:53:02 +02:00
Felix Mauch
a6a06526ac disable starting controllers when robot control is inactive 
Since we use the external controller stopper to take down controllers when
robot control is inactive, we also do not want that users can start controllers
while robot control is deactivated. The only exception is at startup time.
 2019-06-27 14:43:40 +02:00
Felix Mauch
cb64e68100 define a non-scaled position trajectory controller by default 
This way, users can choose whether they want to use non-scaled controllers
as used by older drivers.
 2019-06-27 13:29:09 +02:00
Felix Mauch
5934de2772 re-added a non-scaled position interface for position controllers 
As this interface uses the same joint names as the scaled interface,
resourced conflicts are already managed by ros_control's resource claim
mechanisms.
 2019-06-27 13:29:09 +02:00
Felix Mauch
14b9dd4f1b send keepalive signal when no (commanding) controller is active 
Otherwise the hardware disconnects as soon as we stop a controller by hand.
 2019-06-27 13:29:09 +02:00
Felix Mauch
8c9f79bc3b turn around order of commands and keepalive 
This way we can leave the commands empty very easily
 2019-06-27 13:29:09 +02:00
Felix Mauch
1caa2c4a97 make ScaledJointHandle inherit from JointHandle 
This reduces code duplication
 2019-06-27 13:29:09 +02:00
Felix Mauch
ca2e2f1ed8 Added notes about minimal polyscope versions 2019-06-27 11:16:17 +02:00
Rune Søe-Knudsen
72330cb98b Change extrapolation log messages strategy 
Change the log strategy regarding extrapolation from
make a message every time, to show the maximum number of
extrapolation steps observed in a row and the current count

In this way the log will not be filled up with identical messages,
hiding other messages.

Valuable when running on an unstable network like WIFI
 2019-06-27 10:23:26 +02:00
Rune Søe-Knudsen
bd4df1ff5e Adjust critical sections 
Optimised the used of the the enter_critical and exit_critical sections
 2019-06-27 10:23:23 +02:00
Felix Mauch
792c621f82 correct installation location of tool_comm script 2019-06-27 10:23:20 +02:00
Felix Mauch
98a6e05d18 added socat as exec_dependency 
socat was missing as an execution dependency, although is is needed by the
tool_communication script.

This solves #2
 2019-06-27 10:23:06 +02:00
Rune Søe-Knudsen
0b4da2dab5 Change extrapolation log messages strategy 
Change the log strategy regarding extrapolation from
make a message every time, to show the maximum number of
extrapolation steps observed in a row and the current count

In this way the log will not be filled up with identical messages,
hiding other messages.

Valuable when running on an unstable network like WIFI
 2019-06-25 09:57:47 +00:00
Rune Søe-Knudsen
d42fbb241b Adjust critical sections 
Optimised the used of the the enter_critical and exit_critical sections
 2019-06-25 09:57:47 +00:00
Felix Mauch
7d49801812 activate catkin_lint in the build_kinetic job 2019-06-24 12:54:50 +02:00
Felix Mauch
0bcbc25bf9 use industrial-ci pipeline 2019-06-24 10:21:32 +00:00
Felix Mauch
dc0a9dd44d correct installation location of tool_comm script 2019-06-24 12:10:26 +02:00
Felix Mauch
2883aa1b43 added socat as exec_dependency 
socat was missing as an execution dependency, although is is needed by the
tool_communication script.

This solves #2
 2019-06-24 11:39:13 +02:00
Felix Mauch
ad6fb3badd Added issue template 2019-06-21 12:14:24 +00:00
Rune Søe-Knudsen
10ec2515bb Change to the front README file 
- Change to the introduction with a purpose of this driver
 - Add a comment of how to report issues
 - Fix a small type in one of the examples
 2019-06-20 15:03:09 +02:00