6adda40a3f
Cleaned up legacy code and updated documentation.
2019-05-29 09:05:56 +02:00
a603e9bb97
Improved handling of invalid save paths
2019-05-29 08:32:26 +02:00
0cced4a6c3
Define where the output file should go by a parameter
2019-05-28 16:53:08 +02:00
118b083ce8
sleep less before checking for calibration
2019-05-28 16:53:08 +02:00
c50556cc8a
move real-value examples to other tests
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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
be0cb7f531
fix namespace move
2019-05-28 11:45:19 +02:00
a61788f694
use double precision in output of kinematics info
2019-05-28 11:26:27 +02:00
157b5a696c
Made calibration extraction a working node.
2019-05-28 10:03:23 +02:00
22f392222e
Pipeline: Stop on destruction explicitly
2019-05-28 09:49:33 +02:00
73624533b9
Fixed a couple of includes
2019-05-28 09:48:59 +02:00
2df2c4176f
corrected default accuracy
2019-05-27 19:04:24 +02:00
afc1161b1d
correctly depend on yaml-cpp
2019-05-27 18:42:17 +02:00
312fe8b1b7
moved calibration to own repository
2019-05-27 18:30:15 +02:00
ceb00d8d6d
output simplified chain
2019-05-27 15:26:10 +02:00
f00f76d508
code formatting
2019-05-27 15:26:10 +02:00
4113f3ab2a
Result in 6-jointed chain
2019-05-27 15:26:10 +02:00
bab303e83c
Cleaned up tests
2019-05-27 15:26:10 +02:00
3d93dd4226
manually set corrections to 0
2019-05-27 15:26:10 +02:00
8d3b787b27
also check for rotation errors
2019-05-27 15:26:10 +02:00
579a39a7df
check multiple calibrations in one run
2019-05-27 15:26:10 +02:00
281d4c3955
test 1000 random joint states in fk test
2019-05-27 15:26:10 +02:00
f373eca92b
adding changed d parameter of next element to output
2019-05-27 15:26:10 +02:00
c96338c9e7
create xacro properties again
2019-05-27 15:26:10 +02:00
bc15944fa1
Use plain Eigen for kinematics
2019-05-27 15:26:10 +02:00
8a9192aeba
reduce output during testing
2019-05-27 15:26:10 +02:00
eaae523484
implemented a prototype for an integration test for calibration
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We should put this into a proper calibration test.
2019-05-27 15:26:10 +02:00
792cdc3a08
added unit tests for calibration
2019-05-27 15:26:10 +02:00
d2eb7a8683
added first version of calibration
2019-05-27 15:26:06 +02:00
5bbeae1c8f
Use new gitlab-ci's include functionality
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Also removed clang-tidy check, as it became part of our global pipeline
2019-05-06 15:26:18 +02:00
9bafd44687
added handling of protocol-version 1 and CB3 robots
2019-04-17 16:53:39 +02:00
736cd36940
removed unnecessary const classifier
2019-04-16 09:30:45 +02:00
639da94588
Only write position commands if a position controller is active.
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Fixes #19
2019-04-16 09:30:27 +02:00
d7f065a22d
Upload URScript via primary interface
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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
4c0aea4c4f
added reverse client to publish targets to the robot
2019-04-11 18:16:15 +02:00
153585ad9d
Added HardwareInterface
2019-04-11 17:29:56 +02:00
7b88b47aa1
Implemented getDataPackage function
2019-04-11 16:36:11 +02:00
5db802ffd0
Added executable for plain driver
2019-04-11 16:32:37 +02:00
c322bcb2f2
implemented usage of recipe read by rtde client in the parser and the
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rtde data package
2019-04-11 16:05:26 +02:00
420e04530f
moved producer setup to pipeline initialization
2019-04-11 15:58:25 +02:00
2eea2bf8fc
implemented full rtde handshake to initialize constant publishing to
...
data packages by the robot
2019-04-11 15:58:10 +02:00
8975957b5f
implemented serializing of the output setup and control start packages
2019-04-11 15:53:15 +02:00
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
742bc11c8f
added the rtde client class that initializes the rtde handshake and
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allows reading of data packages
2019-04-11 15:51:10 +02:00
89ee72ac2d
reworked pipeline to allow for use without consumer
2019-04-11 15:51:10 +02:00
75d73c1c28
Added a check, whether the package was parsed completely.
2019-04-10 18:23:18 +02:00
3cde95a17b
added a function to retrieve single components from a DataPackage
2019-04-10 18:23:18 +02:00
4a12a8c9ce
Implemented RTDEParser
2019-04-10 18:23:18 +02:00
466fc03e31
Implemented parsing and toString for RTDE data package
2019-04-10 18:23:18 +02:00
642f040cd8
Do not use "using namespace" in header files
2019-04-10 17:24:34 +02:00
fcc1e62ab5
Parse unknown states to default RobotStates
2019-04-10 10:23:16 +02:00
Felix Mauch
Tristan Schnell