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
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
