Tristan Schnell
ac9b4ef73a
added ros-publishing of changes in the state of the program on the robot
2019-06-11 14:01:08 +02:00
Tristan Schnell
6337d4a374
added ros controller reset when robot program isn't running
2019-06-11 14:01:02 +02:00
Tristan Schnell
3f22a2479a
implemented watchdog
...
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
2019-06-11 13:58:55 +02:00
Felix Mauch
c88022eefd
Introduce UrException as exception base class
2019-06-11 10:25:50 +02:00
Felix Mauch
e250128d7e
fix naming conventions
2019-06-06 16:28:56 +02:00
Felix Mauch
00e0fbee3d
transform fts measurements to tcp
...
They are reported in base coordinate frame from the robot.
2019-06-05 17:11:55 +02:00
Felix Mauch
45430ec0e7
Added interface for force-torque sensor
...
Closes #20
2019-06-05 17:11:55 +02:00
Felix Mauch
38f1661617
Ramp up after pause
...
Ramp up speed scaling on ROS side after the robot has been paused.
Otherwise the robot will overshoot in trying to fill the gap between its
current position and the running target.
2019-06-04 14:19:29 +02:00
Felix Mauch
4f646bb888
Only send robot commands, when robot is in runtime states PLAYING and
...
PAUSING
2019-06-04 13:57:02 +02:00
Tristan Schnell
649f499499
moved rtde recipe to external text file
2019-05-23 15:19:56 +02:00
Felix Mauch
89ee1aae8a
Load the script from an external file
2019-05-20 12:28:35 +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
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
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
