Obbart/universal_robots_ros_driver
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519 Commits

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Author SHA1 Message Date
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
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
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
Felix Mauch
740d798a24 added clang-tidy 2019-04-09 09:22:46 +02:00
Felix Mauch
3bb0d33fba Templated the communication structure to prepare for RTDE interface 
Note: This was merged from a branch, as individual commits might not build
 2019-04-08 17:00:27 +02:00