Obbart/universal_robots_ros_driver
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Code Releases Activity
165 Commits 12 Branches 1 Tag
c46005019e7162381b2d7643d46e4e362a14391f
Commit Graph

66 Commits

Author SHA1 Message Date
Thomas Timm Andersen
c46005019e Very minor code cleanup 2016-06-14 13:58:56 +02:00
Thomas Timm Andersen
5b22e46450 Changed time base for ros_control. Fixes #44 2016-05-03 10:11:01 +02:00
Thomas Timm Andersen
70279d5ece Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:10:00 +01:00
Thomas Timm Andersen
30b9ee5330 Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:08:40 +01:00
Thomas Timm Andersen
682c77582b Removed info message about setting prefix when prefix is an empty string 2016-02-19 16:02:12 +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
hemes
f104b50026 Added check to ensure robot pose matches initial trajectory point. 2016-01-13 15:04:08 -06:00
Simon
dc7204fe6e Set reference frame for twist to base_frame_ 2015-11-16 12:52:42 +01:00
Simon
737c8310d5 Catch NaN error if angles are zero 2015-11-16 12:52:15 +01:00
Simon
d24019b0d1 Publish tool twist and get base and tool frame names from parameters 2015-11-13 15:00:52 +01:00
Simon
4cdceac791 Publish actual tool pose as pose msg and tf 2015-11-12 17:22:20 +01:00
Thomas Timm Andersen
58352a9502 Added parameter for reverse port. closes #12 2015-10-30 13:05:26 +01:00
Thomas Timm Andersen
09dbe010ae Optimized servoj function call for firmware version >= 3.1 2015-10-30 12:55:51 +01:00
Thomas Timm Andersen
d31fe29d65 Changed default servoj_time for better backwards compatibility and smoother pos_based ros_control 2015-10-20 14:38:03 +02:00
Thomas Timm Andersen
6c3cade12f Changed license to Apache 2.0 2015-10-20 12:49:28 +02:00
Thomas Timm Andersen
1c3fe82116 Fixed an issue with using a simulated robot on firmware <= 1.8 2015-10-20 12:16:38 +02:00
Thomas Timm Andersen
6b6ded461b Improved goal handling. 
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
 2015-10-09 14:39:24 +02:00
Thomas Timm Andersen
d8602c2246 Added detection of E-stop and protective stop. 2015-10-09 13:18:38 +02:00
Thomas Timm Andersen
80e344d167 Fixed an issue where canceling a trajectory wouldn't stop the robot. 2015-10-09 10:47:29 +02:00
Thomas Timm Andersen
e354ada3ab changed to use goal_handle_ instead of goal_ 2015-10-08 17:23:19 +02:00
Thomas Timm Andersen
e970a99b01 fixed typo in error string 2015-10-08 17:04:31 +02:00
Thomas Timm Andersen
d4102dd97d Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in 
non-ros-control mode
 2015-10-08 17:01:37 +02:00
Thomas Timm Andersen
d8b8d86ecb Changed minimum servoj time. Fixes #3 2015-10-08 15:50:22 +02:00
Thomas Timm Andersen
8c9595bbf2 Merge branch 'speed_rate_limit' 2015-10-08 15:38:50 +02:00
Thomas Timm Andersen
589dca8e2a Improved ros_control performance and stability 2015-10-08 15:37:49 +02:00
Thomas Timm Andersen
f592d2189a Added a check to incoming goals to see if there are any points in the trajectory 2015-10-08 13:44:24 +02:00
Thomas Timm Andersen
22e7d799c2 Changed the servoj loop time for better stability 2015-10-01 12:28:16 +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
a2c074eec4 Added parameter to use eiter ros_control or old-style interface 2015-09-24 16:37:14 +02:00
Thomas Timm Andersen
6f3bd5d06f Added catch in case communication fails 2015-09-24 16:26:19 +02:00
Thomas Timm Andersen
639597eacd Re-included io_states publisher 2015-09-24 14:11:07 +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
fdcf4936de Deleted some commented code 2015-09-22 12:40:31 +02:00
Thomas Timm Andersen
46e97f1e57 Deleted some commented code 2015-09-22 12:39:24 +02:00
Thomas Timm Andersen
1e7f15e49b Removed wait in accept_goal 2015-09-22 12:26:22 +02:00
Thomas Timm Andersen
64a33bf5ed Changed how trajectories are handled to try and speed things up 2015-09-22 10:34:09 +02:00
Thomas Timm Andersen
c4af674faa Changed how trajectories are handled to try and speed things up 2015-09-22 10:29:44 +02:00
Thomas Timm Andersen
208995d8f3 Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step 2015-09-18 15:00:36 +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
fc219e4eee Limited the published IO state to 10 for pre 3.0 2015-09-17 13:29:55 +02:00
Thomas Timm Andersen
ff8b5522a2 Added sanity check to setSpeed input 2015-09-17 10:10:45 +02:00
Thomas Timm Andersen
12b92c14db Bugfixes in URScript commands 2015-09-16 15:08:46 +02:00
Thomas Timm Andersen
1b995a928b ROSify output based on compiler flag 2015-09-16 14:06:39 +02:00
Thomas Timm Andersen
fb95d2188d Tested and bugfixed masterboard data parsing 2015-09-16 13:38:21 +02:00
Thomas Timm Andersen
699bc08ac6 Added ROS publisher of IOStates 2015-09-16 11:42:55 +02:00
Thomas Timm Andersen
8f3ae49e28 Added URScript interface - untested 2015-09-15 17:23:57 +02:00
Thomas Timm Andersen
cb18dd1d96 Implemented communication on port 30001 and 30002 - untested 2015-09-15 17:03:39 +02:00
Thomas Timm Andersen
e71848f1f7 Prepared msg publisher for joint_offset 2015-09-10 15:30:13 +02:00
Thomas Timm Andersen
1b4ef808ee Fixed calls to ROS_ERROR 2015-09-10 14:46:18 +02:00