Obbart/universal_robots_ros_driver
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425 Commits 12 Branches 1 Tag
73624533b9cbcc90789788a41b18068f3a83e1c8
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Author SHA1 Message Date
Felix Mauch
73624533b9 Fixed a couple of includes 2019-05-28 09:48:59 +02:00
Felix Mauch
2df2c4176f corrected default accuracy 2019-05-27 19:04:24 +02:00
Felix Mauch
afc1161b1d correctly depend on yaml-cpp 2019-05-27 18:42:17 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Felix Mauch
ceb00d8d6d output simplified chain 2019-05-27 15:26:10 +02:00
Felix Mauch
f00f76d508 code formatting 2019-05-27 15:26:10 +02:00
Felix Mauch
4113f3ab2a Result in 6-jointed chain 2019-05-27 15:26:10 +02:00
Felix Mauch
bab303e83c Cleaned up tests 2019-05-27 15:26:10 +02:00
Felix Mauch
3d93dd4226 manually set corrections to 0 2019-05-27 15:26:10 +02:00
Felix Mauch
8d3b787b27 also check for rotation errors 2019-05-27 15:26:10 +02:00
Felix Mauch
579a39a7df check multiple calibrations in one run 2019-05-27 15:26:10 +02:00
Felix Mauch
281d4c3955 test 1000 random joint states in fk test 2019-05-27 15:26:10 +02:00
Felix Mauch
f373eca92b adding changed d parameter of next element to output 2019-05-27 15:26:10 +02:00
Felix Mauch
c96338c9e7 create xacro properties again 2019-05-27 15:26:10 +02:00
Felix Mauch
bc15944fa1 Use plain Eigen for kinematics 2019-05-27 15:26:10 +02:00
Felix Mauch
8a9192aeba reduce output during testing 2019-05-27 15:26:10 +02:00
Felix Mauch
eaae523484 implemented a prototype for an integration test for calibration 
We should put this into a proper calibration test.
 2019-05-27 15:26:10 +02:00
Felix Mauch
792cdc3a08 added unit tests for calibration 2019-05-27 15:26:10 +02:00
Felix Mauch
d2eb7a8683 added first version of calibration 2019-05-27 15:26:06 +02:00
Felix Mauch
5bbeae1c8f Use new gitlab-ci's include functionality 
Also removed clang-tidy check, as it became part of our global pipeline
 2019-05-06 15:26:18 +02:00
Tristan Schnell
9bafd44687 added handling of protocol-version 1 and CB3 robots 2019-04-17 16:53:39 +02:00
Felix Mauch
736cd36940 removed unnecessary const classifier 2019-04-16 09:30:45 +02:00
Felix Mauch
639da94588 Only write position commands if a position controller is active. 
Fixes #19
 2019-04-16 09:30:27 +02:00
Felix Mauch
d7f065a22d Upload URScript via primary interface 
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
Tristan Schnell
4c0aea4c4f added reverse client to publish targets to the robot 2019-04-11 18:16:15 +02:00
Felix Mauch
153585ad9d Added HardwareInterface 2019-04-11 17:29:56 +02:00
Felix Mauch
7b88b47aa1 Implemented getDataPackage function 2019-04-11 16:36:11 +02:00
Felix Mauch
5db802ffd0 Added executable for plain driver 2019-04-11 16:32:37 +02:00
Felix Mauch
c322bcb2f2 implemented usage of recipe read by rtde client in the parser and the 
rtde data package
 2019-04-11 16:05:26 +02:00
Tristan Schnell
420e04530f moved producer setup to pipeline initialization 2019-04-11 15:58:25 +02:00
Tristan Schnell
2eea2bf8fc implemented full rtde handshake to initialize constant publishing to 
data packages by the robot
 2019-04-11 15:58:10 +02:00
Tristan Schnell
8975957b5f implemented serializing of the output setup and control start packages 2019-04-11 15:53:15 +02:00
Tristan Schnell
b604af749f implemented serialization of general rtde headers and the request 
protocol version package
 2019-04-11 15:52:15 +02:00
Tristan Schnell
742bc11c8f added the rtde client class that initializes the rtde handshake and 
allows reading of data packages
 2019-04-11 15:51:10 +02:00
Tristan Schnell
89ee72ac2d reworked pipeline to allow for use without consumer 2019-04-11 15:51:10 +02:00
Felix Mauch
75d73c1c28 Added a check, whether the package was parsed completely. 2019-04-10 18:23:18 +02:00
Felix Mauch
3cde95a17b added a function to retrieve single components from a DataPackage 2019-04-10 18:23:18 +02:00
Felix Mauch
4a12a8c9ce Implemented RTDEParser 2019-04-10 18:23:18 +02:00
Felix Mauch
466fc03e31 Implemented parsing and toString for RTDE data package 2019-04-10 18:23:18 +02:00
Felix Mauch
642f040cd8 Do not use "using namespace" in header files 2019-04-10 17:24:34 +02:00
Felix Mauch
fcc1e62ab5 Parse unknown states to default RobotStates 2019-04-10 10:23:16 +02:00
Felix Mauch
4dc4cc0fb0 Changed KinematicsInfo to match reality 
In the docs, the message has a length of 222 bytes,
while the robots send 225 bytes of data.

As parsing goes correct, they have to be at the end of the message,
we assume that the calibration_data field in fact has the type of a 4-byte
integer.
 2019-04-10 10:23:16 +02:00
Felix Mauch
38fc393f53 Fixed parsing of version message 2019-04-10 10:23:16 +02:00
Felix Mauch
bf8d69e219 Added test executable 2019-04-10 10:23:16 +02:00
Felix Mauch
51ac7ddb91 Tested producer part with real data 2019-04-10 10:23:16 +02:00
Lea Steffen
2f0b8eae1a added documentation for parser and higher level packages 2019-04-09 17:19:32 +02:00
Tristan Schnell
d32f66473e disabled no longer relevant unit tests 2019-04-09 16:29:57 +02:00
Lea Steffen
83125e63c1 Implemented parser functionality 2019-04-09 16:15:39 +02:00
Felix Mauch
b090cdf833 added shell consumer 2019-04-09 16:05:35 +02:00
Tristan Schnell
b1d82c2be6 Added and implemented rtde message types 2019-04-09 16:05:35 +02:00