Obbart/universal_robots_ros_driver
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Code Releases Activity
563 Commits 12 Branches 1 Tag
4a953be4a439bbcfb9f21bfee9e9e12e497f87bb
Commit Graph

106 Commits

Author SHA1 Message Date
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
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
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
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
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
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
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
Felix Mauch
4c1da59970 Move all relevant documentation to the entry README 2019-06-19 16:19:44 +02:00
Felix Mauch
763b96b130 install tool communication script 2019-06-17 14:27:07 +02:00
Felix Mauch
776cdb961a added rosdoc to rtde_driver 2019-06-17 12:51:08 +02:00
Felix Mauch
9135ea9792 Added README files 2019-06-17 12:05:40 +02:00
Felix Mauch
9f91bec413 Added first version of initial setup 2019-06-17 12:05:40 +02:00
Lea Steffen
148c067fcc added URCaps enabling communication with rs-485 interface 2019-06-17 10:39:37 +02:00
Lea Steffen
44ce02b198 added URCaps to enable external control 2019-06-17 10:38:46 +02:00
Felix Mauch
7468e1535e Updated all controller yamls 2019-06-14 15:18:59 +02:00
Felix Mauch
ec3b8c133e Make all launchfiles follow the ones developed for the ur10s 2019-06-14 15:18:59 +02:00
Felix Mauch
7e6b203b67 replace tcp_accuracy_checker with hash comparison 
This closes #34
 2019-06-14 15:18:59 +02:00
Felix Mauch
34eb8dcf08 split common and control 2019-06-14 15:01:28 +02:00
Felix Mauch
ca3e127f21 hard code tool_comm to false in CB3 launchfiles 2019-06-14 15:01:28 +02:00
Tristan Schnell
fa31081e3a removed legacy test and related utilites 2019-06-14 07:56:13 +02:00
Tristan Schnell
d88e6f12f4 added and fixed all licensing headers 2019-06-13 18:18:04 +02:00
Tristan Schnell
f2bd2415e9 formatting fix for producer setup 2019-06-13 17:42:16 +02:00
Felix Mauch
30f398ada5 added module docstring and removed unneeded import 2019-06-13 17:29:31 +02:00
Tristan Schnell
6561cbe4c2 removed no longer needed ur_msgs dependency 2019-06-13 17:18:18 +02:00
Tristan Schnell
3aafabec29 removed unused legacy code 2019-06-13 17:18:18 +02:00
Tristan Schnell
d0e995ff7c implemented error when trying to start driver without connection to a robot 2019-06-13 16:09:37 +02:00
Felix Mauch
fd6a9ee365 Add a checker to inform the user about an uncalibrated robot. 2019-06-13 15:43:46 +02:00
Felix Mauch
c714af16ff added a publisher for the tcp pose 2019-06-13 15:00:20 +02:00
Felix Mauch
c3d92dcde5 Use tf for transforming the fts measurements 2019-06-13 15:00:20 +02:00
Felix Mauch
eb7b66929b added a node to startup RS485 interface 
and added it to the launchfiles.
 2019-06-12 17:57:40 +02:00
Tristan Schnell
e54535bcd3 added basic controller configs for ur3e and ur5e 2019-06-12 17:32:12 +02:00
Tristan Schnell
ec0ec206c0 adapted all ros_control launch files to start the driver correctly 2019-06-12 17:32:12 +02:00
Tristan Schnell
5eed6327ba added exceptions for problems in rtde client handshake 2019-06-12 13:29:30 +02:00
Felix Mauch
adacb219c7 corrected naming scheme of fts-transformation 2019-06-12 12:23:03 +02:00
Felix Mauch
25e9aafc14 Added controllers stopper 
This node takes care about taking down and restarting controllers based on
the robot's state.

Closes #48
 2019-06-12 12:01:23 +02:00