Simon Schmeisser
24eef75d72
Publish industrial_msgs::RobotStatus ( #5 )
2018-01-02 20:16:41 +01:00
Michael Görner
e4a503fe5f
various improvements and fixes for use_ros_control=true ( #6 )
...
* Find matching hardware_interface using the required type
The name of the controller was used in order to find and start
the matching hardware interface.
In consequence this meant that one could only define one controller
for each hardware interface.
Now, the controller's required type of hardware interface is used
to find and start the matching hardware interface.
* separate read & update in controller
consume is defined as read+update, but update
does not include read in ros_control terminology.
* Handle latency in pipeline loop
The controllers need to update at a rate of *at least* 125Hz,
but the wait_dequeue_timed call could in theory slow the loop down to 62.5Hz.
The old ur_modern_driver worked around this problem by sending goals
at 4*125Hz.
This patch exploits the onTimeout method of a consumer to update with
the specified frequency of the control loop, even if no new state message
arrived after the previous command.
* publish wrench w.r.t. tcp frame
The messages had an empty frame_id before and could not be displayed in RViz
* support ros_control in indigo
2017-12-08 14:05:07 +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
3be07d19be
Merge pull request #1 from TAMS-Group/fork_master
...
Fix runtime issues
2017-07-24 18:49:45 +02:00
Simon Rasmussen
dbcf8aeb41
Fixed SO_REUSEADDR being set after bind rather than before
2017-07-21 19:02:19 +02:00
Henning Kayser
75c3733eb7
Fix type warning in log output
2017-07-21 18:02:48 +02:00
Simon Rasmussen
a170b9f51e
Fixed issues preventing from compiling on Kinetic
2017-07-17 23:30:39 +02:00
Simon Rasmussen
1e724dcd33
Added bitset parsing and setter for random data
2017-07-09 04:03:37 +02:00
Simon Rasmussen
b63e36b533
removed useless file
2017-07-09 02:55:33 +02:00
Simon Rasmussen
3a5fa23f6b
Clang-format run
2017-07-09 02:54:49 +02:00
Simon Rasmussen
577fcdbf98
Fixed compiler warnings
2017-07-09 02:45:58 +02:00
Simon Rasmussen
fdaaacfe2c
Clean up of old driver files
2017-07-09 02:45:02 +02:00
Simon Rasmussen
f3e11bfc29
minor improvements
2017-07-07 19:15:17 +02:00
Simon Rasmussen
f35f40b45d
WIP
2017-07-07 15:26:39 +02:00
Simon Rasmussen
0479c047d3
Trjaectory follower improvements
2017-05-19 01:29:22 +02:00
Simon Rasmussen
ffe0ac170c
Fixed invalid inheritance on ActionServer
2017-05-19 01:26:22 +02:00
Simon Rasmussen
0c23d0bf3d
Added set options function for sockets
2017-05-19 01:23:35 +02:00
Simon Rasmussen
8d845c6f38
Action server improvements
2017-05-19 01:21:23 +02:00
Simon Rasmussen
c59bfc78cc
Major refactor
2017-04-27 06:40:03 +02:00
Simon Rasmussen
46f4e493cf
Big code dump
2017-04-17 13:04:12 +02:00
Simon Rasmussen
b4bb424058
Fixed minor issues
2017-04-15 01:45:29 +02:00
Simon Rasmussen
dd8169d371
Factory and setup improvements
2017-04-13 10:48:59 +02:00
Simon Rasmussen
97add752a1
Implemented ros control
2017-04-13 10:47:41 +02:00
Simon Rasmussen
bbe2102ac8
Initial implementation of commander
2017-04-13 10:43:31 +02:00
Simon Rasmussen
0302b05691
Ignore initial version message
2017-04-13 10:42:39 +02:00
Simon Rasmussen
1e34cdaa37
Improved stream implementation
2017-04-13 10:40:27 +02:00
Simon Rasmussen
06b2db45bf
Improved pipeline design
2017-04-13 10:39:22 +02:00
Simon Rasmussen
a4ca9f1703
Changed masterboard IO data to bitset
2017-04-13 10:34:51 +02:00
Simon Rasmussen
618dd35c43
formatting
2017-03-16 04:56:07 +01:00
Simon Rasmussen
e478987dc4
Refactored const size arrays to std::array
2017-03-08 11:00:16 +01:00
Simon Rasmussen
aa26bb5996
Added tests
2017-03-07 02:50:46 +01:00
Simon Rasmussen
474f469e97
Adopted roscpp code style and naming convention
2017-03-01 14:15:40 +01:00
Simon Rasmussen
e4bc40fc09
Fixed minor parsing issues with RTState
2017-03-01 12:40:55 +01:00
Simon Rasmussen
71ebb4afbf
Added equality operators for vector types
2017-03-01 12:39:40 +01:00
Simon Rasmussen
d778559894
Minor pipeline improvements
2017-03-01 12:39:04 +01:00
Simon Rasmussen
7d5e149102
Fixed strict alisasing warnings and double/float big endian issues
2017-03-01 00:00:55 +01:00
Simon Rasmussen
70cfe6cad3
Improved logging and formatting
2017-02-16 22:51:44 +01:00
Simon Rasmussen
68e72e393d
RTShared documentation improvement
2017-02-16 22:51:07 +01:00
Simon Rasmussen
fc53fbdd68
Fixed consumer thread getting stuck in dequeue on shutdown
2017-02-16 22:49:58 +01:00
Simon Rasmussen
b422107c08
Improved RTPublisher
2017-02-16 22:49:10 +01:00
Simon Rasmussen
a78d3eadf3
Added clang formatting
2017-02-16 02:03:40 +01:00
Simon Rasmussen
c824c37303
Implemented RT publishing
2017-02-16 01:52:59 +01:00
Simon Rasmussen
c282c961f7
Completed parsing of UR state, messages and RT
2017-02-16 01:52:22 +01:00
Simon Rasmussen
d0fa801cad
Improved bin parser debugging
2017-02-15 23:06:08 +01:00
Simon Rasmussen
32cfed93b3
Better non ros output logging
2017-02-15 23:05:52 +01:00
Simon Rasmussen
43974dcbf2
Refactoring, improvements and fixes
2017-02-09 12:16:51 +01:00
Simon Rasmussen
e94bbb5536
BinParser improvements
2017-02-09 12:15:54 +01:00
Simon Rasmussen
e523a5d466
Newline parity between printf and ros logging
2017-02-08 10:33:22 +01:00
Simon Rasmussen
113b32d5af
Implemented network byte order decoding
2017-02-08 10:30:52 +01:00
