Obbart/universal_robots_ros_driver
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533 Commits 12 Branches 1 Tag
54c04d61f97103dad9177458c05206dd88dfc602
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533 Commits

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Author SHA1 Message Date
Felix Mauch
54c04d61f9 Increased the URCap software requirements to 3.7/5.1 2019-07-01 13:24:06 +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
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
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
58483f91b7 Add a launchfile for the calibration correction 
This way, it is not necessary to have a roscore running when doing the calibration extraction.
 2019-06-19 16:19:44 +02:00
Felix Mauch
766fb8aaa5 use gitlab-ci pipeline from https://gitlab.com/VictorLamoine/ros_gitlab_ci 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
daf99cc77b update package.xml in all packages 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
Tristan Schnell
ad129da4c1 reset controllers only on when robot program is started 2019-06-12 11:44:18 +02:00
Tristan Schnell
b2503352a9 fixed requestProgram function in script sender not returning correctly 2019-06-12 10:36:49 +02:00
Felix Mauch
75d6ae0a19 Move debug output to DEBUG stream 2019-06-12 10:20:13 +02:00
Felix Mauch
00d20cb501 removed info about speed scaling rampup 2019-06-12 10:18:20 +02:00