Obbart/universal_robots_ros_driver
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Code Releases Activity
640 Commits 12 Branches 1 Tag
62146a49ae7185bf9dce196f8dac2638ace7efef
Commit Graph

180 Commits

Author SHA1 Message Date
Tristan Schnell
f628ab353f implemented setting of standard digital and analog outputs via SetIO service 2019-08-01 13:44:49 +02:00
Tristan Schnell
dc660b854d implemented setting of speed_slider via ROS topic 2019-08-01 13:44:49 +02:00
Tristan Schnell
323125f84d added input datatypes and necessary functionality for RTDE write to the data package class 2019-08-01 13:44:49 +02:00
Tristan Schnell
d68de02fd9 corrected serialization of double values 2019-08-01 13:44:49 +02:00
Tristan Schnell
8a48b5019c added RTDE write setup functionality to handshake 2019-08-01 13:44:49 +02:00
Tristan Schnell
5040a12e7c fixed calculation of package size for v1 setup output and setup input packages 2019-07-30 11:33:48 +02:00
Tristan Schnell
8bacdc0fe1 added RTDE writer class and required interfaces for use in the hardware interface 2019-07-25 18:30:28 +02:00
Felix Mauch
da53c3b45c Put package information in base package 2019-07-22 17:00:59 +02:00
Felix Mauch
2e71c18f70 added Publisher for tool data 2019-07-22 15:39:10 +02:00
Felix Mauch
ff5603e1a3 depend on ur_msgs 2019-07-18 16:08:21 +02:00
Felix Mauch
5c1043205d added standard analog IO 2019-07-18 15:55:27 +02:00
Felix Mauch
369f3594af publish digital IO bits 2019-07-18 15:12:45 +02:00
Felix Mauch
a1c53caef3 added function to get rtde data as bitset 2019-07-18 15:12:22 +02:00
Felix Mauch
9a2d890c6d moved reading of rtde values into separate function 2019-07-18 11:49:09 +02:00
Felix Mauch
e63de16225 move calibration check to earlier time 
Otherwise it blocks reading RTDE data.
 2019-07-18 11:12:44 +02:00
Felix Mauch
8166bf3d67 do not explicitly stop producers and consumers multiple times 
Let the threads handle taking them down.
 2019-07-16 13:01:13 +02:00
Felix Mauch
c38bd99647 move calibration check to ros-independent part 2019-07-16 13:01:13 +02:00
Felix Mauch
4a953be4a4 use rtde interface to query control pc's IP 2019-07-16 13:00:23 +02:00
Felix Mauch
7dd9bc0c55 added log message about program running 2019-07-16 11:53:30 +02:00
Felix Mauch
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
gavanderhoorn
03e7030872 rtde_client: fix typos. 2019-07-15 07:49:48 +00:00
Felix Mauch
3993466f24 set controller publish rates to 125 Hz for CB3 robots. 2019-07-15 07:04:14 +00:00
gavanderhoorn
513ff9143d rtde_driver: don't unnecessarily repeat joint names. 
Use an anchor for the list and aliases where needed.
 2019-07-14 15:06:00 +02:00
Felix Mauch
fe41ad423a Updated version and added CHANGELOG 2019-07-04 12:08:44 +02:00
Felix Mauch
412b6ba54e updated externalcontrol urcap 2019-07-04 10:59:29 +02:00
Felix Mauch
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
Felix Mauch
2afb937bb8 Pass stopped_controllers to underlying launch files 2019-07-03 09:58:50 +02:00
Felix Mauch
a6338abad6 by default, deactivate tool_comm and set tool voltage to 0 2019-07-02 07:45:43 +02:00
Felix Mauch
8bbe0274d6 piped device_name and tcp_port for tool communication correctly through all launch files 2019-07-02 07:41:56 +02:00
Felix Mauch
d0541298d3 Moved URCap installation to separate files 2019-07-01 22:16:00 +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
20eed217a9 Merge branch 'master' into release 
Changes:
 - Support for standard position based controllers
 2019-06-27 14:54:14 +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
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
Rune Søe-Knudsen
0b4da2dab5 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
 2019-06-25 09:57:47 +00:00
Rune Søe-Knudsen
d42fbb241b Adjust critical sections 
Optimised the used of the the enter_critical and exit_critical sections
 2019-06-25 09:57:47 +00:00
Felix Mauch
dc0a9dd44d correct installation location of tool_comm script 2019-06-24 12:10:26 +02:00
Felix Mauch
2883aa1b43 added socat as exec_dependency 
socat was missing as an execution dependency, although is is needed by the
tool_communication script.

This solves #2
 2019-06-24 11:39:13 +02:00
Rune Søe-Knudsen
10ec2515bb 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
 2019-06-20 15:03:09 +02:00
Felix Mauch
4c1da59970 Move all relevant documentation to the entry README 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
9135ea9792 Added README files 2019-06-17 12:05:40 +02:00