Felix Mauch
579a39a7df
check multiple calibrations in one run
2019-05-27 15:26:10 +02:00
Felix Mauch
f373eca92b
adding changed d parameter of next element to output
2019-05-27 15:26:10 +02:00
Felix Mauch
c96338c9e7
create xacro properties again
2019-05-27 15:26:10 +02:00
Felix Mauch
bc15944fa1
Use plain Eigen for kinematics
2019-05-27 15:26:10 +02:00
Felix Mauch
8a9192aeba
reduce output during testing
2019-05-27 15:26:10 +02:00
Felix Mauch
eaae523484
implemented a prototype for an integration test for calibration
...
We should put this into a proper calibration test.
2019-05-27 15:26:10 +02:00
Felix Mauch
792cdc3a08
added unit tests for calibration
2019-05-27 15:26:10 +02:00
Felix Mauch
d2eb7a8683
added first version of calibration
2019-05-27 15:26:06 +02:00
Tristan Schnell
9bafd44687
added handling of protocol-version 1 and CB3 robots
2019-04-17 16:53:39 +02:00
Felix Mauch
736cd36940
removed unnecessary const classifier
2019-04-16 09:30:45 +02:00
Felix Mauch
639da94588
Only write position commands if a position controller is active.
...
Fixes #19
2019-04-16 09:30:27 +02:00
Felix Mauch
d7f065a22d
Upload URScript via primary interface
...
Note: This will probably be changed later, but currently that's the
easiest way to handle this.
2019-04-16 09:29:38 +02:00
Tristan Schnell
4c0aea4c4f
added reverse client to publish targets to the robot
2019-04-11 18:16:15 +02:00
Felix Mauch
153585ad9d
Added HardwareInterface
2019-04-11 17:29:56 +02:00
Felix Mauch
7b88b47aa1
Implemented getDataPackage function
2019-04-11 16:36:11 +02:00
Felix Mauch
5db802ffd0
Added executable for plain driver
2019-04-11 16:32:37 +02:00
Felix Mauch
c322bcb2f2
implemented usage of recipe read by rtde client in the parser and the
...
rtde data package
2019-04-11 16:05:26 +02:00
Tristan Schnell
2eea2bf8fc
implemented full rtde handshake to initialize constant publishing to
...
data packages by the robot
2019-04-11 15:58:10 +02:00
Tristan Schnell
8975957b5f
implemented serializing of the output setup and control start packages
2019-04-11 15:53:15 +02:00
Tristan Schnell
b604af749f
implemented serialization of general rtde headers and the request
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protocol version package
2019-04-11 15:52:15 +02:00
Tristan Schnell
742bc11c8f
added the rtde client class that initializes the rtde handshake and
...
allows reading of data packages
2019-04-11 15:51:10 +02:00
Felix Mauch
4a12a8c9ce
Implemented RTDEParser
2019-04-10 18:23:18 +02:00
Felix Mauch
466fc03e31
Implemented parsing and toString for RTDE data package
2019-04-10 18:23:18 +02:00
Felix Mauch
fcc1e62ab5
Parse unknown states to default RobotStates
2019-04-10 10:23:16 +02:00
Felix Mauch
4dc4cc0fb0
Changed KinematicsInfo to match reality
...
In the docs, the message has a length of 222 bytes,
while the robots send 225 bytes of data.
As parsing goes correct, they have to be at the end of the message,
we assume that the calibration_data field in fact has the type of a 4-byte
integer.
2019-04-10 10:23:16 +02:00
Felix Mauch
38fc393f53
Fixed parsing of version message
2019-04-10 10:23:16 +02:00
Felix Mauch
bf8d69e219
Added test executable
2019-04-10 10:23:16 +02:00
Felix Mauch
51ac7ddb91
Tested producer part with real data
2019-04-10 10:23:16 +02:00
Felix Mauch
b090cdf833
added shell consumer
2019-04-09 16:05:35 +02:00
Tristan Schnell
b1d82c2be6
Added and implemented rtde message types
2019-04-09 16:05:35 +02:00
Felix Mauch
6699c1facb
Added parse and toString functions for higher-level primary functions
2019-04-09 16:03:38 +02:00
Felix Mauch
4bf5793d79
Added and implemented primary messages
2019-04-09 16:00:17 +02:00
Felix Mauch
59ae3bcd69
Documented URStream and TCPSocket
2019-04-09 15:46:19 +02:00
Tristan Schnell
112148bcd8
added package_header templating to stream class and moved implementation
...
into header file
2019-04-08 16:35:32 +02:00
Felix Mauch
1c205556a1
use namespace ur_driver instead of ur_rtde_driver
2019-04-08 13:51:33 +02:00
Felix Mauch
44751cfb2a
removed unused files
2019-04-01 17:30:24 +02:00
Felix Mauch
31746259cf
put communication-related classes to namespace
2019-04-01 17:30:24 +02:00
Felix Mauch
5840d4f406
Put everyting into ur_rtde_driver namespace
2019-04-01 17:30:24 +02:00
Felix Mauch
99533e42d8
Updated clang-format and added clang-tidy instructions
2019-04-01 17:30:24 +02:00
Felix Mauch
f34422f32b
renamed package
2019-04-01 17:30:24 +02:00
gavanderhoorn
0fa0cba044
Add Apache 2 license header to source and headers.
2019-03-29 16:52:49 +01:00
Miguel Prada
4f3775d647
Publish "native" tool position/velocity even in ros_control mode. ( #262 )
2019-02-26 09:46:03 +01:00
Miguel Prada
9e276a3368
Format sources with clang-format
2018-11-20 09:47:17 +01:00
Miguel Prada
2f1251c2eb
Resolve premature controller initialization ( #213 )
...
Squashed commits:
* Avoid updating ros_control controllers on pipeline timeout
* Revert "Avoid updating ros_control controllers on pipeline timeout"
* Do not update controller_manager until RTPackets have been received
* Mark handles as initialized after actually doing it rather than just before
* Improve readability
2018-11-05 14:05:30 +01:00
G.A. vd. Hoorn
ad7299921a
Merge pull request #21 from nLinkAS/master
...
Run io serivce operations as secondary urscripts
2018-09-28 14:23:00 +02:00
G.A. vd. Hoorn
50bd24dd3b
Merge pull request #9 from NoMagicAi/SAFE_TRAJECTORY_FOLLOWER
...
Adds Low Bandwith Trajectory Follower implementation
2018-09-27 16:06:39 +02:00
axelschroth
c72ec5bded
Fixed tcp socket: shutdown() does not destroy socket descriptor -> use close()
2018-05-23 11:29:47 +02:00
Miguel Prada
64f752f744
Initialize VelocityInterface::prev_velocity_cmd_ with zeroes
2018-04-25 17:56:56 +02:00
Jørn Sandvik Nilsson
5c9ffe2ba1
Run io serivce operations as secondary urscripts
2018-03-26 11:39:32 +02:00
Jarek Potiuk
71bca7abf7
Refactored intialisation of ROSController/ActionServer
2018-03-24 13:14:53 +01:00
