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
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
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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
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
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
Felix Mauch
6699c1facb
Added parse and toString functions for higher-level primary functions
2019-04-09 16:03:38 +02:00
Felix Mauch
4bf5793d79
Added and implemented primary messages
2019-04-09 16:00:17 +02:00
Felix Mauch
adf1560105
moved bin_parser to comm and use it in URPackage::parseWith
2019-04-09 15:59:39 +02:00
Felix Mauch
59ae3bcd69
Documented URStream and TCPSocket
2019-04-09 15:46:19 +02:00
Tristan Schnell
326207e6c7
changed URCommander to use templated version of URStream
2019-04-08 16:49:03 +02:00
Tristan Schnell
39a5935067
added package_header templating for the pipeline class and the abstract producer and consumer classes
2019-04-08 16:35:32 +02:00
Tristan Schnell
dd43521a85
added package_header templating to the producer class
2019-04-08 16:35:32 +02:00
Tristan Schnell
112148bcd8
added package_header templating to stream class and moved implementation
...
into header file
2019-04-08 16:35:32 +02:00
Lea Steffen
ed11fb8a1c
updated names to PackageHeader
2019-04-08 14:05:37 +02:00
Felix Mauch
1c205556a1
use namespace ur_driver instead of ur_rtde_driver
2019-04-08 13:51:33 +02:00
Felix Mauch
3c61cbeb35
Added a common package ancestor
2019-04-08 11:09:27 +02:00
Lea Steffen
f7c51bae87
header files for messages added
2019-04-08 11:07:50 +02:00
Felix Mauch
44751cfb2a
removed unused files
2019-04-01 17:30:24 +02:00
Felix Mauch
31746259cf
put communication-related classes to namespace
2019-04-01 17:30:24 +02:00
Felix Mauch
5840d4f406
Put everyting into ur_rtde_driver namespace
2019-04-01 17:30:24 +02:00
Felix Mauch
99533e42d8
Updated clang-format and added clang-tidy instructions
2019-04-01 17:30:24 +02:00
Felix Mauch
f34422f32b
renamed package
2019-04-01 17:30:24 +02:00
gavanderhoorn
0fa0cba044
Add Apache 2 license header to source and headers.
2019-03-29 16:52:49 +01:00
Miguel Prada
9e276a3368
Format sources with clang-format
2018-11-20 09:47:17 +01:00
Miguel Prada
2f1251c2eb
Resolve premature controller initialization ( #213 )
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Squashed commits:
* Avoid updating ros_control controllers on pipeline timeout
* Revert "Avoid updating ros_control controllers on pipeline timeout"
* Do not update controller_manager until RTPackets have been received
* Mark handles as initialized after actually doing it rather than just before
* Improve readability
2018-11-05 14:05:30 +01:00
