Obbart/universal_robots_ros_driver
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Code Releases Activity
472 Commits 12 Branches 1 Tag
c88022eefdae900f5ec6ca25738492c86a2fd531
Commit Graph

41 Commits

Author SHA1 Message Date
Felix Mauch
c88022eefd Introduce UrException as exception base class 2019-06-11 10:25:50 +02:00
Felix Mauch
48103aca49 added header_guards for ur_driver 2019-06-06 17:37:39 +02:00
Felix Mauch
c640badfb4 removed legacy datatypes 2019-06-06 16:28:56 +02:00
Felix Mauch
e250128d7e fix naming conventions 2019-06-06 16:28:56 +02:00
Felix Mauch
9788504f93 make queue match naming conventions 2019-06-06 16:28:56 +02:00
Felix Mauch
212ce85dfe Fixed maintainer information in package.xml 2019-06-06 16:28:56 +02:00
Tristan Schnell
b22ac7b2c6 changed new urscript to publish keepalive 
Part of #13
 2019-06-06 15:53:53 +02:00
Felix Mauch
673459e9de cleaned up control urscript 
Less verbose output and more explicit shutdown. Part of #13
 2019-06-06 15:53:53 +02:00
Felix Mauch
7b6175d248 corrected eigen depend tag in package.xml 2019-06-06 07:46:11 +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
118f938543 e-series adaption 2019-06-04 13:58:33 +02:00
Felix Mauch
ac14f4337c set servoj_gain to 2000 2019-06-04 13:58:33 +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
Felix Mauch
765812b4ae Use ros-independent logging commands in pipeline. 2019-06-03 09:57:43 +02:00
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
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
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +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