Obbart/universal_robots_ros_driver
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556 Commits 12 Branches 1 Tag
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Author SHA1 Message Date
Felix Mauch
b15a416d06 Merge branch 'calibration_new' 
This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
 2019-06-03 09:41:59 +02:00
Felix Mauch
db8bf458ee Added README file 2019-05-29 09:05:56 +02:00
Felix Mauch
6adda40a3f Cleaned up legacy code and updated documentation. 2019-05-29 09:05:56 +02:00
Felix Mauch
a603e9bb97 Improved handling of invalid save paths 2019-05-29 08:32:26 +02:00
Felix Mauch
0cced4a6c3 Define where the output file should go by a parameter 2019-05-28 16:53:08 +02:00
Felix Mauch
118b083ce8 sleep less before checking for calibration 2019-05-28 16:53:08 +02:00
Felix Mauch
c50556cc8a move real-value examples to other tests 
The ideal robot uses a non-perfect approximation for pi, which results in
larger errors (magnitude 10e-8) when comparing against a model with a more
exact pi. Therefore, we use the "UR-pi" for real-value test model.
 2019-05-28 16:53:08 +02:00
Felix Mauch
be0cb7f531 fix namespace move 2019-05-28 11:45:19 +02:00
Felix Mauch
a61788f694 use double precision in output of kinematics info 2019-05-28 11:26:27 +02:00
Felix Mauch
157b5a696c Made calibration extraction a working node. 2019-05-28 10:03:23 +02:00
Felix Mauch
22f392222e Pipeline: Stop on destruction explicitly 2019-05-28 09:49:33 +02:00
Felix Mauch
73624533b9 Fixed a couple of includes 2019-05-28 09:48:59 +02:00
Felix Mauch
2df2c4176f corrected default accuracy 2019-05-27 19:04:24 +02:00
Felix Mauch
afc1161b1d correctly depend on yaml-cpp 2019-05-27 18:42:17 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Felix Mauch
ceb00d8d6d output simplified chain 2019-05-27 15:26:10 +02:00
Felix Mauch
f00f76d508 code formatting 2019-05-27 15:26:10 +02:00
Felix Mauch
4113f3ab2a Result in 6-jointed chain 2019-05-27 15:26:10 +02:00
Felix Mauch
bab303e83c Cleaned up tests 2019-05-27 15:26:10 +02:00
Felix Mauch
3d93dd4226 manually set corrections to 0 2019-05-27 15:26:10 +02:00
Felix Mauch
8d3b787b27 also check for rotation errors 2019-05-27 15:26:10 +02:00
Felix Mauch
579a39a7df check multiple calibrations in one run 2019-05-27 15:26:10 +02:00
Felix Mauch
281d4c3955 test 1000 random joint states in fk test 2019-05-27 15:26:10 +02:00
Felix Mauch
f373eca92b adding changed d parameter of next element to output 2019-05-27 15:26:10 +02:00
Felix Mauch
c96338c9e7 create xacro properties again 2019-05-27 15:26:10 +02:00
Felix Mauch
bc15944fa1 Use plain Eigen for kinematics 2019-05-27 15:26:10 +02:00
Felix Mauch
8a9192aeba reduce output during testing 2019-05-27 15:26:10 +02:00
Felix Mauch
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
Felix Mauch
792cdc3a08 added unit tests for calibration 2019-05-27 15:26:10 +02:00
Felix Mauch
d2eb7a8683 added first version of calibration 2019-05-27 15:26:06 +02:00
Tristan Schnell
649f499499 moved rtde recipe to external text file 2019-05-23 15:19:56 +02:00
Tristan Schnell
876d4a06f5 edited script for use in URCaps 2019-05-23 11:26:50 +02:00
Tristan Schnell
a0ea50a031 implemented script_sender and moved sending of robot program 2019-05-23 11:26:50 +02:00
Felix Mauch
89ee1aae8a Load the script from an external file 2019-05-20 12:28:35 +02:00
Felix Mauch
ec31db35b2 removed deprecated code 2019-05-20 11:35:58 +02:00
Felix Mauch
19cb6fa519 do not use ROS logging inside non-ROS code 2019-05-20 11:35:58 +02:00
Felix Mauch
ac5e4d85aa Use correct package header for temp primary client 2019-05-20 11:35:49 +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
35322d208b extrapolate on missing packages 2019-05-16 13:49:22 +02:00
Felix Mauch
f3cdbac4c4 Set step time from robot 2019-05-16 13:49:22 +02:00
Felix Mauch
68835be49b do not timeout on rtde_read 
We should not timeout on that as this is the method of the robot commanding
the cycle time. We should unconditionally act on the robot's events.
 2019-05-16 13:49:22 +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
b5bf8660be add parameters to URScript program 
Fill parameters on PC side
 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
Felix Mauch
7a31b25e38 added first version of speed scaling readings 2019-05-16 13:48:31 +02:00