Obbart/universal_robots_ros_driver
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600 Commits 12 Branches 1 Tag
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Author SHA1 Message Date
Simon Rasmussen
d0fa801cad Improved bin parser debugging 2017-02-15 23:06:08 +01:00
Simon Rasmussen
32cfed93b3 Better non ros output logging 2017-02-15 23:05:52 +01:00
Simon Rasmussen
43974dcbf2 Refactoring, improvements and fixes 2017-02-09 12:16:51 +01:00
Simon Rasmussen
e94bbb5536 BinParser improvements 2017-02-09 12:15:54 +01:00
Simon Rasmussen
e523a5d466 Newline parity between printf and ros logging 2017-02-08 10:33:22 +01:00
Simon Rasmussen
113b32d5af Implemented network byte order decoding 2017-02-08 10:30:52 +01:00
Simon Rasmussen
b6eb109cd3 Implemented URStateParser, URRTStateParser and URProducer 2017-02-06 14:39:37 +01:00
Simon Rasmussen
ffe2bbe96a Implemented initial robot state and parsing 2017-02-06 14:26:00 +01:00
Simon Rasmussen
c7bee00cc1 Removed uneeded pipeline.cpp 2017-02-06 14:20:34 +01:00
Simon Rasmussen
c4c613c5e7 Added basic vector and cartesian types 2017-02-06 14:16:48 +01:00
Simon Rasmussen
ead41d205c Refactored logging 2017-02-06 14:16:14 +01:00
Simon Rasmussen
cd639339c7 Improved BinParser 2017-02-06 14:15:46 +01:00
Simon Rasmussen
efcb738325 Implemented URStream 2017-02-06 14:15:03 +01:00
Simon Rasmussen
c42bdc4075 Implemented abstract pipeline design 2017-01-30 02:29:18 +01:00
Thomas Timm Andersen
9ca8836242 Merge pull request #79 from HurchelYoung/master 
Minor corrections needed for default ros_control based approach
 2016-11-28 16:09:55 +01:00
HurchelYoung
452161a4d4 Update README.md 
typo
 2016-11-21 07:45:12 -08:00
HurchelYoung
d89a06b2d4 Update README.md 
corrected controller names to match original ur10 and ur5 usage
 2016-11-21 07:24:49 -08:00
HurchelYoung
a188a0ce0d Update ur3_controllers.yaml 
corrected controller names to match original ur10 and ur5 usage
 2016-11-21 07:20:38 -08:00
HurchelYoung
5e3558603c Update ur5_controllers.yaml 
corrected controller names to match original ur10 and ur5 usage
 2016-11-21 07:18:40 -08:00
HurchelYoung
35c9d68e33 Update ur10_controllers.yaml 
corrected controller names to match original ur10 and ur5 usage
 2016-11-21 07:17:56 -08:00
HurchelYoung
1248d6575d Update ur10_controllers.yaml 
updated controller names to be consistent between all models and readme suggested usage
 2016-11-21 06:51:46 -08:00
HurchelYoung
d6b319b28d Update ur5_controllers.yaml 
revised controller names to be consistent between all models and readme suggestions
 2016-11-21 06:50:17 -08:00
HurchelYoung
2295f3b8b9 Update README.md 
Revised the ros_control usage notes
 2016-11-17 07:43:01 -08:00
HurchelYoung
a410f99400 Update README.md 
Added instructions on where to find packages needed when using ros_control
 2016-11-17 07:27:03 -08:00
HurchelYoung
814364dd1f Update README.md 
corrected the controller names for to be used when implementing ros_control.  Also noted that the velocity_based_position_trajectory_controller is started by default.
 2016-11-17 07:12:36 -08:00
Thomas Timm Andersen
af6edc8a35 Merge pull request #74 from miguelprada/ros_control_tool0_controller 
Expose tool pose/twist from RT when ros_control is active.
 2016-11-09 11:18:08 +01:00
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