Simon Schmeisser
f71c83c649
respawn needs to have a value ( #12 )
...
Respawn defaults to false, so just remove it.
2018-01-11 14:46:54 +01:00
Jarek Potiuk
6950b3c4bd
Re-add urscript topic ( #7 )
...
* Re-added UR script - for custom UR Script execution
* Restarting the driver when robot closes the connection on script error.
The pipelines work in the way that if the connection is
is closed by the control PC, it will not be re-established. This
happens for example if you use the URScript topic and upload
script that does not compile. The robot will then close the
connection, the pipeline will close and any subsequent
uploads will fail and noone realises there is a problem.
While we could re-establish the connection, I think much better
solution is to shutdown the driver in such case. This is much more
resilient behaviour as it will clean up any inconsistent driver state.
We can utilise "respawn" feature of ROS launch and restart such
driver automatically (launch files are updated as part of that change).
On top of "production" stability, it allows for much nicer development
workflow - you can use URScript topic for development of new scripts
and have the driver restart every time you make mistake.
Without it, any mistake requires restarting the driver manually.
2018-01-02 20:22:55 +01:00
Henning Kayser
231840fabf
Change default activation mode to 'Never'
...
Maintains default behavior of indigo that no controller activation is required.
Enabling required activation can be done by passing 'require_activation' as Always/OnStartup
to the ur_common.launch or by modifying corresponding launch files.
2017-08-17 13:39:05 +02:00
Henning Kayser
f70255926b
Implement activation modes of robot_enable service
...
Adds parameter 'require_activation' to configure when the service should be called (Always, Never, OnStartup).
2017-08-16 16:56:21 +02:00
Simon Rasmussen
6e8b2ef5ca
Fixed minor ur3 launch typos issue #98
2017-07-17 23:33:18 +02:00
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
091f7c3bd0
Chnaged tool0_controller base frame. fixes #53
2016-06-14 13:55:43 +02:00
Thomas Timm Andersen
161a7fc146
Removed the prefix tag from the ur_description launch call
2016-02-19 15:53:54 +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
Thomas Timm Andersen
0b9bf8b549
Updated launch files to evaluate a 'prefix' argument and pass it to the driver and urdf file. Fixes #28
2016-02-19 14:16:49 +01:00
Thomas Timm Andersen
56b4c6bae1
Changed robot_state_publisher to fix #32
2016-02-19 11:56:11 +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
Thomas Timm Andersen
834b103129
Added launchfiles used for imitating old python driver
2015-11-16 10:21:50 +01:00
Simon
d24019b0d1
Publish tool twist and get base and tool frame names from parameters
2015-11-13 15:00:52 +01:00
Thomas Timm Andersen
3f0b03a768
Added launch files for making the driver behave just like the old python driver
2015-10-30 12:47:32 +01:00
Robot Printer
fd2d13ef84
Merge remote-tracking branch 'thomas_timm/master' into ur3_support
2015-10-28 10:06:31 +01:00
Thomas Timm Andersen
806548dd80
Tuned PID values to work with a real robot
2015-10-20 14:23:15 +02:00
Thomas Timm Andersen
589dca8e2a
Improved ros_control performance and stability
2015-10-08 15:37:49 +02:00
Jeppe Walther
58361900b8
UR3 Support
2015-10-06 17:14:59 +02:00
Thomas Timm Andersen
8c25a4495f
Updated launch files
2015-09-25 11:28:54 +02:00
Thomas Timm Andersen
980eb8ddd9
Updated ur10_ros_control.launch to load all controllers
2015-09-25 10:20:56 +02:00
Thomas Timm Andersen
68b751cdcc
Fixed order of starting and stopping controllers
2015-09-25 10:19:58 +02:00
Thomas Timm Andersen
dc49deaf18
Made sure all controllers are loaded
2015-09-25 09:59:10 +02:00
Thomas Timm Andersen
5c785af6c4
Included a position-based controller. Also prettied up printing
2015-09-25 09:57:33 +02:00
Thomas Timm Andersen
a15fcc695c
Specified type of position_trajectory_controller
2015-09-24 16:59:31 +02:00
Thomas Timm Andersen
a2c074eec4
Added parameter to use eiter ros_control or old-style interface
2015-09-24 16:37:14 +02:00
Thomas Timm Andersen
1e8f13f232
Added control switching
2015-09-24 13:50:53 +02:00
Thomas Timm Andersen
af601b9c32
Implemented ros-control
2015-09-24 10:27:55 +02:00
Thomas Timm Andersen
0310193b15
Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs
2015-09-17 13:40:16 +02:00
Thomas Timm Andersen
69c5fa780a
Implemented communication on port 30001 and 30002 - untested
2015-09-15 17:05:34 +02:00
Thomas Timm Andersen
889e2b70d4
Implemented communication on port 30001 and 30002 - untested
2015-09-15 17:03:59 +02:00
Thomas Timm Andersen
4d5c7101ba
Started structure for non real time data parsing
2015-09-10 17:49:32 +02:00
Thomas Timm Andersen
daa05e5004
added launch files
2015-09-09 15:23:29 +02:00
