5c1043205d
added standard analog IO
2019-07-18 15:55:27 +02:00
369f3594af
publish digital IO bits
2019-07-18 15:12:45 +02:00
9a2d890c6d
moved reading of rtde values into separate function
2019-07-18 11:49:09 +02:00
e63de16225
move calibration check to earlier time
...
Otherwise it blocks reading RTDE data.
2019-07-18 11:12:44 +02:00
c38bd99647
move calibration check to ros-independent part
2019-07-16 13:01:13 +02:00
4a953be4a4
use rtde interface to query control pc's IP
2019-07-16 13:00:23 +02:00
7dd9bc0c55
added log message about program running
2019-07-16 11:53:30 +02:00
bc683903b7
Added a service to hand back control to the robot
...
This way, Ros can be a part of a larger program.
2019-07-16 11:05:22 +02:00
03e7030872
rtde_client: fix typos.
2019-07-15 07:49:48 +00:00
6979ec35e0
send keepalive signals only if the program is running
...
when no program is running, we do not want to fill the buffer anyway.
2019-07-04 10:44:23 +02:00
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
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
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
7e6b203b67
replace tcp_accuracy_checker with hash comparison
...
This closes #34
2019-06-14 15:18:59 +02:00
d88e6f12f4
added and fixed all licensing headers
2019-06-13 18:18:04 +02:00
3aafabec29
removed unused legacy code
2019-06-13 17:18:18 +02:00
fd6a9ee365
Add a checker to inform the user about an uncalibrated robot.
2019-06-13 15:43:46 +02:00
c714af16ff
added a publisher for the tcp pose
2019-06-13 15:00:20 +02:00
c3d92dcde5
Use tf for transforming the fts measurements
2019-06-13 15:00:20 +02:00
5eed6327ba
added exceptions for problems in rtde client handshake
2019-06-12 13:29:30 +02:00
adacb219c7
corrected naming scheme of fts-transformation
2019-06-12 12:23:03 +02:00
ad129da4c1
reset controllers only on when robot program is started
2019-06-12 11:44:18 +02:00
75d6ae0a19
Move debug output to DEBUG stream
2019-06-12 10:20:13 +02:00
00d20cb501
removed info about speed scaling rampup
2019-06-12 10:18:20 +02:00
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
520cd4d860
throw exception when tool communication is requested for CB3
2019-06-12 09:54:31 +02:00
e0201002f6
introduced VersionInformation
...
Use this as a data container to store version information in.
2019-06-12 09:54:31 +02:00
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
4cd13b6b83
implemented initialization of rs485 interface.
2019-06-12 09:32:46 +02:00
e4a2e9e743
renamed hardware interface function that handles changes in robot-program state
2019-06-11 14:02:07 +02:00
ac9b4ef73a
added ros-publishing of changes in the state of the program on the robot
2019-06-11 14:01:08 +02:00
6337d4a374
added ros controller reset when robot program isn't running
2019-06-11 14:01:02 +02:00
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
7e56332b26
removed no longer used and supported plain driver startup
2019-06-11 13:19:18 +02:00
c88022eefd
Introduce UrException as exception base class
2019-06-11 10:25:50 +02:00
c640badfb4
removed legacy datatypes
2019-06-06 16:28:56 +02:00
e250128d7e
fix naming conventions
2019-06-06 16:28:56 +02:00
00e0fbee3d
transform fts measurements to tcp
...
They are reported in base coordinate frame from the robot.
2019-06-05 17:11:55 +02:00
45430ec0e7
Added interface for force-torque sensor
...
Closes #20
2019-06-05 17:11:55 +02:00
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
ac14f4337c
set servoj_gain to 2000
2019-06-04 13:58:33 +02:00
4f646bb888
Only send robot commands, when robot is in runtime states PLAYING and
...
PAUSING
2019-06-04 13:57:02 +02:00
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
a61788f694
use double precision in output of kinematics info
2019-05-28 11:26:27 +02:00
312fe8b1b7
moved calibration to own repository
2019-05-27 18:30:15 +02:00
649f499499
moved rtde recipe to external text file
2019-05-23 15:19:56 +02:00
a0ea50a031
implemented script_sender and moved sending of robot program
2019-05-23 11:26:50 +02:00
89ee1aae8a
Load the script from an external file
2019-05-20 12:28:35 +02:00
ec31db35b2
removed deprecated code
2019-05-20 11:35:58 +02:00
19cb6fa519
do not use ROS logging inside non-ROS code
2019-05-20 11:35:58 +02:00
Felix Mauch
gavanderhoorn
Tristan Schnell