be0cb7f531
fix namespace move
2019-05-28 11:45:19 +02:00
a61788f694
use double precision in output of kinematics info
2019-05-28 11:26:27 +02:00
157b5a696c
Made calibration extraction a working node.
2019-05-28 10:03:23 +02:00
22f392222e
Pipeline: Stop on destruction explicitly
2019-05-28 09:49:33 +02:00
73624533b9
Fixed a couple of includes
2019-05-28 09:48:59 +02:00
2df2c4176f
corrected default accuracy
2019-05-27 19:04:24 +02:00
afc1161b1d
correctly depend on yaml-cpp
2019-05-27 18:42:17 +02:00
312fe8b1b7
moved calibration to own repository
2019-05-27 18:30:15 +02:00
ceb00d8d6d
output simplified chain
2019-05-27 15:26:10 +02:00
f00f76d508
code formatting
2019-05-27 15:26:10 +02:00
4113f3ab2a
Result in 6-jointed chain
2019-05-27 15:26:10 +02:00
bab303e83c
Cleaned up tests
2019-05-27 15:26:10 +02:00
3d93dd4226
manually set corrections to 0
2019-05-27 15:26:10 +02:00
8d3b787b27
also check for rotation errors
2019-05-27 15:26:10 +02:00
579a39a7df
check multiple calibrations in one run
2019-05-27 15:26:10 +02:00
281d4c3955
test 1000 random joint states in fk test
2019-05-27 15:26:10 +02:00
f373eca92b
adding changed d parameter of next element to output
2019-05-27 15:26:10 +02:00
c96338c9e7
create xacro properties again
2019-05-27 15:26:10 +02:00
bc15944fa1
Use plain Eigen for kinematics
2019-05-27 15:26:10 +02:00
8a9192aeba
reduce output during testing
2019-05-27 15:26:10 +02:00
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
792cdc3a08
added unit tests for calibration
2019-05-27 15:26:10 +02:00
d2eb7a8683
added first version of calibration
2019-05-27 15:26:06 +02:00
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
9bafd44687
added handling of protocol-version 1 and CB3 robots
2019-04-17 16:53:39 +02:00
736cd36940
removed unnecessary const classifier
2019-04-16 09:30:45 +02:00
639da94588
Only write position commands if a position controller is active.
...
Fixes #19
2019-04-16 09:30:27 +02:00
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
4c0aea4c4f
added reverse client to publish targets to the robot
2019-04-11 18:16:15 +02:00
153585ad9d
Added HardwareInterface
2019-04-11 17:29:56 +02:00
7b88b47aa1
Implemented getDataPackage function
2019-04-11 16:36:11 +02:00
5db802ffd0
Added executable for plain driver
2019-04-11 16:32:37 +02:00
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
420e04530f
moved producer setup to pipeline initialization
2019-04-11 15:58:25 +02:00
2eea2bf8fc
implemented full rtde handshake to initialize constant publishing to
...
data packages by the robot
2019-04-11 15:58:10 +02:00
8975957b5f
implemented serializing of the output setup and control start packages
2019-04-11 15:53:15 +02:00
b604af749f
implemented serialization of general rtde headers and the request
...
protocol version package
2019-04-11 15:52:15 +02:00
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
89ee72ac2d
reworked pipeline to allow for use without consumer
2019-04-11 15:51:10 +02:00
75d73c1c28
Added a check, whether the package was parsed completely.
2019-04-10 18:23:18 +02:00
3cde95a17b
added a function to retrieve single components from a DataPackage
2019-04-10 18:23:18 +02:00
4a12a8c9ce
Implemented RTDEParser
2019-04-10 18:23:18 +02:00
466fc03e31
Implemented parsing and toString for RTDE data package
2019-04-10 18:23:18 +02:00
642f040cd8
Do not use "using namespace" in header files
2019-04-10 17:24:34 +02:00
fcc1e62ab5
Parse unknown states to default RobotStates
2019-04-10 10:23:16 +02:00
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
38fc393f53
Fixed parsing of version message
2019-04-10 10:23:16 +02:00
bf8d69e219
Added test executable
2019-04-10 10:23:16 +02:00
51ac7ddb91
Tested producer part with real data
2019-04-10 10:23:16 +02:00
2f0b8eae1a
added documentation for parser and higher level packages
2019-04-09 17:19:32 +02:00
Felix Mauch
Tristan Schnell
Lea Steffen