Obbart/universal_robots_ros_driver
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Code Releases Activity
188 Commits 12 Branches 1 Tag
6eb529ee2f47dcbeefa42060eca25079a66ecd22
Commit Graph

115 Commits

Author SHA1 Message Date
Miguel Prada
50380df1bf Add time parameter back to speedj for SW >= 3.3. 2017-03-22 15:48:59 +01:00
Miguel Prada
fe9762e9d5 Expose tool pose/twist from RT when ros_control is active. 
Replicates #20 for the case where ros_control is active.
 2016-11-08 18:38:44 +01:00
Thomas Timm Andersen
e785ce0860 Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47 2016-08-30 11:49:25 +02:00
Thomas Timm Andersen
d8012be697 Merge branch 'master' of https://github.com/ThomasTimm/ur_modern_driver 2016-08-30 11:45:45 +02:00
Miguel Prada
e2f6e995c3 Fix velocity interface after changes in SW > 3.1. 
Behaviour of t parameter in speedj command has changed and requires not to set this (optional) parameter for correct behaviour in SW > 3.1.
 2016-06-15 12:12:06 +02:00
Thomas Timm Andersen
c46005019e Very minor code cleanup 2016-06-14 13:58:56 +02:00
Thomas Timm Andersen
5b22e46450 Changed time base for ros_control. Fixes #44 2016-05-03 10:11:01 +02:00
Simon Jansen
3e17e760fd Fix: New order in digital outputs 
0-7: standard digital out
8-15: configurable digital out
16-17: tool digital out
 2016-03-18 15:42:20 +01:00
Thomas Timm Andersen
0dc244bbe8 Fixed a bug where tool0_controller position was all 0 for ur firmware version 1.8.xx 2016-03-02 17:04:11 +01:00
Thomas Timm Andersen
70279d5ece Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:10:00 +01:00
Thomas Timm Andersen
30b9ee5330 Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:08:40 +01:00
Thomas Timm Andersen
682c77582b Removed info message about setting prefix when prefix is an empty string 2016-02-19 16:02:12 +01:00
Thomas Timm Andersen
adc223cbd8 Added prefix args to ros_control launch files and to the tool0_controller transform frame 2016-02-19 14:58:28 +01:00
hemes
f104b50026 Added check to ensure robot pose matches initial trajectory point. 2016-01-13 15:04:08 -06:00
Thomas Timm Andersen
a3e174626c Added verification of RT message length for firmware versions 1.6 to 3.2 2015-12-03 11:29:21 +01:00
Thomas Timm Andersen
3402db3348 Fixed set_io service to work with 3.x 2015-12-03 10:54:36 +01:00
Jethro Tan
1064510bd1 Ignore malformed messages from UR5 running 1.8.X. 2015-12-02 14:08:51 +01:00
Thomas Timm Andersen
36e20b8567 Merge pull request #20 from smart-robotics/master 
Expose tool pose from RT connection in ROS
 2015-11-16 15:35:44 +01:00
Simon
dc7204fe6e Set reference frame for twist to base_frame_ 2015-11-16 12:52:42 +01:00
Simon
737c8310d5 Catch NaN error if angles are zero 2015-11-16 12:52:15 +01:00
Thomas Timm Andersen
67776ea049 Kill servo_thread in urscript. Fixes #15 2015-11-16 10:28:45 +01:00
Thomas Timm Andersen
aa1096db3b Corrected bug that returned target_q instead of target_qd 2015-11-16 10:22:33 +01:00
Simon
d24019b0d1 Publish tool twist and get base and tool frame names from parameters 2015-11-13 15:00:52 +01:00
Simon
4cdceac791 Publish actual tool pose as pose msg and tf 2015-11-12 17:22:20 +01:00
Thomas Timm Andersen
58352a9502 Added parameter for reverse port. closes #12 2015-10-30 13:05:26 +01:00
Thomas Timm Andersen
09dbe010ae Optimized servoj function call for firmware version >= 3.1 2015-10-30 12:55:51 +01:00
Thomas Timm Andersen
14e9a25dd8 Removed hardcoded velocity limit in vel_based ros_control 2015-10-30 12:48:30 +01:00
Thomas Timm Andersen
2e37fb00df Code cleanup 2015-10-28 11:27:38 +01:00
Thomas Timm Andersen
839d90c4ab Added a check to see that the robot is connected before attempting to write to the socket. Fixes #11 2015-10-28 11:25:59 +01:00
Thomas Timm Andersen
c3f3da922a Fixed #9. Now data streaming is much more regular 2015-10-27 11:43:45 +01:00
Thomas Timm Andersen
d31fe29d65 Changed default servoj_time for better backwards compatibility and smoother pos_based ros_control 2015-10-20 14:38:03 +02:00
Thomas Timm Andersen
a918626dad Added info message about reconnection aquired 2015-10-20 13:41:45 +02:00
Thomas Timm Andersen
1de174d73f code cleanup 2015-10-20 13:24:52 +02:00
Thomas Timm Andersen
f856487e9f Added stability to reverse connection. Resolves #6 2015-10-20 13:21:23 +02:00
Thomas Timm Andersen
6c3cade12f Changed license to Apache 2.0 2015-10-20 12:49:28 +02:00
Thomas Timm Andersen
1c3fe82116 Fixed an issue with using a simulated robot on firmware <= 1.8 2015-10-20 12:16:38 +02:00
Thomas Timm Andersen
8a4cdb51da Made sure to stop any executing trajectory when the driver is halted 2015-10-20 11:01:54 +02:00
Thomas Timm Andersen
189ecc71ed Changed servoj_time handling to minimize network transfers. Fixes #7 2015-10-20 10:57:39 +02:00
Thomas Timm Andersen
6b6ded461b Improved goal handling. 
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
 2015-10-09 14:39:24 +02:00
Thomas Timm Andersen
d8602c2246 Added detection of E-stop and protective stop. 2015-10-09 13:18:38 +02:00
Thomas Timm Andersen
80e344d167 Fixed an issue where canceling a trajectory wouldn't stop the robot. 2015-10-09 10:47:29 +02:00
Thomas Timm Andersen
e354ada3ab changed to use goal_handle_ instead of goal_ 2015-10-08 17:23:19 +02:00
Thomas Timm Andersen
e970a99b01 fixed typo in error string 2015-10-08 17:04:31 +02:00
Thomas Timm Andersen
d4102dd97d Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in 
non-ros-control mode
 2015-10-08 17:01:37 +02:00
Thomas Timm Andersen
d8b8d86ecb Changed minimum servoj time. Fixes #3 2015-10-08 15:50:22 +02:00
Thomas Timm Andersen
52b68cbd9c Stop sending data to servoj when stopTraj is called 2015-10-08 15:48:05 +02:00
Thomas Timm Andersen
1d54bcca1d Stop sending data to servoj when stopTraj is called 2015-10-08 15:47:39 +02:00
Thomas Timm Andersen
8c9595bbf2 Merge branch 'speed_rate_limit' 2015-10-08 15:38:50 +02:00
Thomas Timm Andersen
589dca8e2a Improved ros_control performance and stability 2015-10-08 15:37:49 +02:00
Thomas Timm Andersen
f592d2189a Added a check to incoming goals to see if there are any points in the trajectory 2015-10-08 13:44:24 +02:00