Obbart/universal_robots_ros_driver
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534 Commits 12 Branches 1 Tag
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534 Commits

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Author SHA1 Message Date
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
Tristan Schnell
649f499499 moved rtde recipe to external text file 2019-05-23 15:19:56 +02:00
Tristan Schnell
876d4a06f5 edited script for use in URCaps 2019-05-23 11:26:50 +02:00
Tristan Schnell
a0ea50a031 implemented script_sender and moved sending of robot program 2019-05-23 11:26:50 +02:00
Felix Mauch
89ee1aae8a Load the script from an external file 2019-05-20 12:28:35 +02:00
Felix Mauch
ec31db35b2 removed deprecated code 2019-05-20 11:35:58 +02:00
Felix Mauch
19cb6fa519 do not use ROS logging inside non-ROS code 2019-05-20 11:35:58 +02:00
Felix Mauch
ac5e4d85aa Use correct package header for temp primary client 2019-05-20 11:35:49 +02:00
Felix Mauch
0e0bffcdc6 Use correct naming scheme for variable robot_ip 2019-05-20 11:35:08 +02:00
Felix Mauch
7743c79f6d added separate speed_scaling handle and controller 
In theory that handle could be used to also set the speed_scaling,
done by the controller. However, this is not yet implemented.
 2019-05-16 13:49:45 +02:00
Felix Mauch
35322d208b extrapolate on missing packages 2019-05-16 13:49:22 +02:00
Felix Mauch
f3cdbac4c4 Set step time from robot 2019-05-16 13:49:22 +02:00
Felix Mauch
68835be49b do not timeout on rtde_read 
We should not timeout on that as this is the method of the robot commanding
the cycle time. We should unconditionally act on the robot's events.
 2019-05-16 13:49:22 +02:00
Felix Mauch
9ac939b2b0 correctly shutdown comm threads on exit 2019-05-16 13:49:22 +02:00
Felix Mauch
c79c567412 start main and producer thread with realtime priority 2019-05-16 13:49:22 +02:00
Felix Mauch
e7c97150d5 notify on missing packages 2019-05-16 13:49:22 +02:00
Felix Mauch
b5bf8660be add parameters to URScript program 
Fill parameters on PC side
 2019-05-16 13:49:22 +02:00
Felix Mauch
4106aa9fb8 get frequency from robot 2019-05-16 13:49:22 +02:00
Felix Mauch
f38ec92389 added ur_controllers package 2019-05-16 13:49:19 +02:00
Felix Mauch
be5553648d moved driver to subfolder 2019-05-16 13:48:35 +02:00
Felix Mauch
7a31b25e38 added first version of speed scaling readings 2019-05-16 13:48:31 +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