Obbart/universal_robots_ros_driver
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533 Commits 12 Branches 1 Tag
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Author SHA1 Message Date
Felix Mauch
5f405b3996 explicitly throw special exception when tool_comm is not available 
This way, we can catch it and give a better feedback to the user.
 2019-06-12 09:54:31 +02:00
Felix Mauch
520cd4d860 throw exception when tool communication is requested for CB3 2019-06-12 09:54:31 +02:00
Felix Mauch
e0201002f6 introduced VersionInformation 
Use this as a data container to store version information in.
 2019-06-12 09:54:31 +02:00
Felix Mauch
e1e71b5cb4 setup timeout for tcp sockets 
If we want to be able to stop the producer, we'll have to make sure,
it is not hanging inside the recv function because no new packages came in.
 2019-06-12 09:54:27 +02:00
Felix Mauch
bb36999868 only join cThread if created 2019-06-12 09:32:46 +02:00
Felix Mauch
4cd13b6b83 implemented initialization of rs485 interface. 2019-06-12 09:32:46 +02:00
Tristan Schnell
e4a2e9e743 renamed hardware interface function that handles changes in robot-program state 2019-06-11 14:02:07 +02:00
Tristan Schnell
ac9b4ef73a added ros-publishing of changes in the state of the program on the robot 2019-06-11 14:01:08 +02:00
Tristan Schnell
6337d4a374 added ros controller reset when robot program isn't running 2019-06-11 14:01:02 +02:00
Tristan Schnell
3f22a2479a implemented watchdog 
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
 2019-06-11 13:58:55 +02:00
Tristan Schnell
7e56332b26 removed no longer used and supported plain driver startup 2019-06-11 13:19:18 +02:00
Felix Mauch
c88022eefd Introduce UrException as exception base class 2019-06-11 10:25:50 +02:00
Felix Mauch
48103aca49 added header_guards for ur_driver 2019-06-06 17:37:39 +02:00
Felix Mauch
c640badfb4 removed legacy datatypes 2019-06-06 16:28:56 +02:00
Felix Mauch
e250128d7e fix naming conventions 2019-06-06 16:28:56 +02:00
Felix Mauch
9788504f93 make queue match naming conventions 2019-06-06 16:28:56 +02:00
Felix Mauch
212ce85dfe Fixed maintainer information in package.xml 2019-06-06 16:28:56 +02:00
Tristan Schnell
b22ac7b2c6 changed new urscript to publish keepalive 
Part of #13
 2019-06-06 15:53:53 +02:00
Felix Mauch
673459e9de cleaned up control urscript 
Less verbose output and more explicit shutdown. Part of #13
 2019-06-06 15:53:53 +02:00
Felix Mauch
7b6175d248 corrected eigen depend tag in package.xml 2019-06-06 07:46:11 +02:00
Felix Mauch
00e0fbee3d transform fts measurements to tcp 
They are reported in base coordinate frame from the robot.
 2019-06-05 17:11:55 +02:00
Felix Mauch
45430ec0e7 Added interface for force-torque sensor 
Closes #20
 2019-06-05 17:11:55 +02:00
Felix Mauch
38f1661617 Ramp up after pause 
Ramp up speed scaling on ROS side after the robot has been paused.
Otherwise the robot will overshoot in trying to fill the gap between its
current position and the running target.
 2019-06-04 14:19:29 +02:00
Felix Mauch
118f938543 e-series adaption 2019-06-04 13:58:33 +02:00
Felix Mauch
ac14f4337c set servoj_gain to 2000 2019-06-04 13:58:33 +02:00
Felix Mauch
4f646bb888 Only send robot commands, when robot is in runtime states PLAYING and 
PAUSING
 2019-06-04 13:57:02 +02:00
Felix Mauch
765812b4ae Use ros-independent logging commands in pipeline. 2019-06-03 09:57:43 +02:00
Felix Mauch
b15a416d06 Merge branch 'calibration_new' 
This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
 2019-06-03 09:41:59 +02:00
Felix Mauch
db8bf458ee Added README file 2019-05-29 09:05:56 +02:00
Felix Mauch
6adda40a3f Cleaned up legacy code and updated documentation. 2019-05-29 09:05:56 +02:00
Felix Mauch
a603e9bb97 Improved handling of invalid save paths 2019-05-29 08:32:26 +02:00
Felix Mauch
0cced4a6c3 Define where the output file should go by a parameter 2019-05-28 16:53:08 +02:00
Felix Mauch
118b083ce8 sleep less before checking for calibration 2019-05-28 16:53:08 +02:00
Felix Mauch
c50556cc8a move real-value examples to other tests 
The ideal robot uses a non-perfect approximation for pi, which results in
larger errors (magnitude 10e-8) when comparing against a model with a more
exact pi. Therefore, we use the "UR-pi" for real-value test model.
 2019-05-28 16:53:08 +02:00
Felix Mauch
be0cb7f531 fix namespace move 2019-05-28 11:45:19 +02:00
Felix Mauch
a61788f694 use double precision in output of kinematics info 2019-05-28 11:26:27 +02:00
Felix Mauch
157b5a696c Made calibration extraction a working node. 2019-05-28 10:03:23 +02:00
Felix Mauch
22f392222e Pipeline: Stop on destruction explicitly 2019-05-28 09:49:33 +02:00
Felix Mauch
73624533b9 Fixed a couple of includes 2019-05-28 09:48:59 +02:00
Felix Mauch
2df2c4176f corrected default accuracy 2019-05-27 19:04:24 +02:00
Felix Mauch
afc1161b1d correctly depend on yaml-cpp 2019-05-27 18:42:17 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Felix Mauch
ceb00d8d6d output simplified chain 2019-05-27 15:26:10 +02:00
Felix Mauch
f00f76d508 code formatting 2019-05-27 15:26:10 +02:00
Felix Mauch
4113f3ab2a Result in 6-jointed chain 2019-05-27 15:26:10 +02:00
Felix Mauch
bab303e83c Cleaned up tests 2019-05-27 15:26:10 +02:00
Felix Mauch
3d93dd4226 manually set corrections to 0 2019-05-27 15:26:10 +02:00
Felix Mauch
8d3b787b27 also check for rotation errors 2019-05-27 15:26:10 +02:00
Felix Mauch
579a39a7df check multiple calibrations in one run 2019-05-27 15:26:10 +02:00
Felix Mauch
281d4c3955 test 1000 random joint states in fk test 2019-05-27 15:26:10 +02:00