Obbart/universal_robots_ros_driver
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374 Commits 12 Branches 1 Tag
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Author SHA1 Message Date
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
6788a56636 Merge pull request #72 from NikolasE/master 
removed some typos
 2016-11-08 16:08:33 +01:00
Nikolas Engelhard
2c5fa6f5e4 removed some typos 2016-11-05 10:26:27 +01:00
Thomas Timm Andersen
9d202f450c Merge pull request #64 from miguelprada/no_pos_traj_controller_gains 
Remove unused PID gain parameters from controller configuration.
 2016-08-30 11:52:55 +02:00
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
60278716cf Remove unused PID gain parameters from controller configuration. 2016-08-29 10:35:33 +02:00
Thomas Timm Andersen
c044ae1973 Merge pull request #57 from miguelprada/fix_speedj_sw_gt_3.1 
Fix velocity interface after changes in SW > 3.1.
 2016-06-15 13:17:24 +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
091f7c3bd0 Chnaged tool0_controller base frame. fixes #53 2016-06-14 13:55:43 +02:00
Thomas Timm Andersen
5b22e46450 Changed time base for ros_control. Fixes #44 2016-05-03 10:11:01 +02:00
Thomas Timm Andersen
c93d9dd543 Merge pull request #41 from smart-robotics/master 
Fix mismatch in numbering digital pins between set_io and io_states
 2016-04-12 13:52:30 +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
Simon Jansen
96d478ac2c Merge pull request #2 from ThomasTimm/master 
Merge updates from original driver
 2016-03-18 10:08:07 +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
91450da173 Changed test_move.py to use wait_for_message instead of global vars 2016-02-23 09:47:37 +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
161a7fc146 Removed the prefix tag from the ur_description launch call 2016-02-19 15:53:54 +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
Thomas Timm Andersen
0b9bf8b549 Updated launch files to evaluate a 'prefix' argument and pass it to the driver and urdf file. Fixes #28 2016-02-19 14:16:49 +01:00
Thomas Timm Andersen
c05f16c8e9 Tweaked ur5 PID controller values. Fixes #27 2016-02-19 11:59:19 +01:00
Thomas Timm Andersen
56b4c6bae1 Changed robot_state_publisher to fix #32 2016-02-19 11:56:11 +01:00
Thomas Timm Andersen
a29fcac0c6 Added test_move.py with joint_states subscriber 2016-02-19 11:38:29 +01:00
Thomas Timm Andersen
d1905d6745 Merge pull request #31 from hemes/master 
Added check to ensure robot pose matches initial trajectory point.
 2016-01-14 15:47:33 +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
Thomas Timm Andersen
5c71c89c1d Merge pull request #26 from jettan/master 
Ignore malformed messages from URSim running 1.8.X.
 2015-12-02 17:43:29 +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
952ed2146c Merge pull request #24 from gavanderhoorn/patch-1 
readme: fix minor typo
 2015-11-19 13:44:58 +01:00
G.A. vd. Hoorn
e96dd6733d readme: fix minor typo 2015-11-19 13:01:35 +01:00
Thomas Timm Andersen
464e4d9b4a Merge pull request #23 from smart-robotics/master 
Adds mini-tutorial about tool0_controller frame
 2015-11-18 17:52:34 +01:00
Simon Jansen
dd8849384a Adds mini-tutorial about tool0_controller frame 2015-11-18 12:56:40 +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
Thomas Timm Andersen
26e46c66bb Merge branch 'master' of https://github.com/ThomasTimm/ur_modern_driver 2015-11-16 10:23:07 +01:00
Thomas Timm Andersen
aa1096db3b Corrected bug that returned target_q instead of target_qd 2015-11-16 10:22:33 +01:00
Thomas Timm Andersen
834b103129 Added launchfiles used for imitating old python driver 2015-11-16 10:21:50 +01:00
Simon
d24019b0d1 Publish tool twist and get base and tool frame names from parameters 2015-11-13 15:00:52 +01:00
Simon
4cdceac791 Publish actual tool pose as pose msg and tf 2015-11-12 17:22:20 +01:00
sepjansen
634c8eae53 Merge pull request #1 from ThomasTimm/master 
Merge new features from original driver
 2015-11-12 14:01:24 +01:00
Simon
3515b2cf40 Revert "Add install targets" -> rollback to original 
This reverts commit c18ff438ca.
 2015-11-12 13:59:01 +01:00
Simon
9d19fa3abe Revert "Add install targets" 
This reverts commit c18ff438ca.
 2015-11-12 13:46:37 +01:00
Simon
777cf2fe71 Revert "Rollback to original (diagnostics is now in separate branch)" 
This reverts commit 644ea2491c.
 2015-11-12 13:45:07 +01:00
Thomas Timm Andersen
2887d803eb Update README.md 
fixed bibtex citation
 2015-11-10 13:10:46 +01:00