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
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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
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Fix runtime issues
2017-07-24 18:49:45 +02:00
Henning
45480881ff
Change ROS_ERROR_STREAM to LOG_ERROR.
2017-07-24 12:20:45 +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
d3637e9633
Fixing some typos.
2017-07-21 17:48:34 +02:00
Henning Kayser
4375ffecc6
Adds multiple retries to accept reverse connection
...
We observed that the accept failed nondeterministically in rare cases.
2017-07-21 17:48:34 +02:00
Henning Kayser
63691e038e
Extend error messages
...
Extends error message to print invalid joint names.
Adds max_velocity as parameter descriptor in error message.
2017-07-21 17:48:12 +02:00
Henning Kayser
54a852305c
Adds prefix to all joint names.
2017-07-21 17:33:28 +02:00
Henning Kayser
1e4934a199
Adds missing param max_velocity.
2017-07-21 17:32:13 +02:00
Simon Rasmussen
a170b9f51e
Fixed issues preventing from compiling on Kinetic
2017-07-17 23:30:39 +02:00
Simon Rasmussen
8e8a0428b0
Added testing for master board parsing and fixed unparsed fields
2017-07-09 04:04:22 +02:00
Simon Rasmussen
79fd2ee864
Fixed missing include
2017-07-09 04:02:40 +02:00
Simon Rasmussen
88c9976e31
Removed more old files
2017-07-09 04:01:16 +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
40fc986e7b
Fixed jitter issues
2017-07-07 20:08:15 +02:00
Simon Rasmussen
210e0086bf
socket improvment
2017-07-07 19:15:46 +02:00
Simon Rasmussen
e4560097c8
Parameter parsing
2017-07-07 19:15:35 +02:00
Simon Rasmussen
f3e11bfc29
minor improvements
2017-07-07 19:15:17 +02:00
Simon Rasmussen
93bf3487dd
Fixed trajectory issue
2017-07-07 16:39:34 +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
502506e7fc
Main
2017-05-19 01:28:46 +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
2a80601e84
Rt publisher improvement
2017-04-13 10:45:58 +02:00
Simon Rasmussen
bbe2102ac8
Initial implementation of commander
2017-04-13 10:43:31 +02:00
Simon Rasmussen
1e34cdaa37
Improved stream implementation
2017-04-13 10:40:27 +02:00
Simon Rasmussen
a4ca9f1703
Changed masterboard IO data to bitset
2017-04-13 10:34:51 +02:00
Simon Rasmussen
7828304e37
Removed old state file
2017-03-03 03:55:29 +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
88c582cd58
Fixed log format error
2017-03-01 00:03:44 +01:00
Simon Rasmussen
ff36a13aea
Fixed RTState parsing bug
2017-03-01 00:00:03 +01:00
Simon Rasmussen
f8be2834b0
RTPublisher main
2017-02-16 22:52:19 +01:00
Simon Rasmussen
9c1077a779
Improved URStream logging
2017-02-16 22:50:35 +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
e00cfac0ee
new entry point WIP
2017-02-16 01:54:21 +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
43974dcbf2
Refactoring, improvements and fixes
2017-02-09 12:16:51 +01:00
