Felix Mauch
ba98bf8e19
Removed deprecated TODOs
...
We only support robot software versions 3.7+
2019-09-25 15:03:25 +02:00
Felix Mauch
62146a49ae
Moved getDataPackage functionality to rtde_client
2019-09-25 11:15:13 +00:00
Felix Mauch
78300be46d
Merge branch 'update_doxygen' into master
2019-09-25 09:56:36 +02:00
Felix Mauch
66f5600450
Documented tool_communication
2019-09-24 18:32:01 +02:00
Felix Mauch
ee7e2c5dcb
Added error-output on illegal or non-supported setIO function
2019-09-24 07:36:45 +00:00
Felix Mauch
f8ecc633ad
Set analog input domain on publishing
2019-09-24 07:36:45 +00:00
Felix Mauch
d74708d2ee
Fixed naming of sendAnalogOutput function
2019-09-24 07:36:45 +00:00
Felix Mauch
f3bc62a679
Use SetSpeedSliderFraction.srv from ur_msgs
2019-09-19 15:48:53 +00:00
Felix Mauch
9225d92715
Merge current development into release
2019-09-19 15:32:41 +02:00
Felix Mauch
6c740665df
Added error management on illegal pointer access
2019-09-18 13:44:09 +00:00
Felix Mauch
54b6da821c
subscribe to command topic AFTER the driver has been initialized
2019-09-18 13:44:09 +00:00
Felix Mauch
2d78248760
Use secondary port with secondary program for sending custom script messages
2019-09-18 13:44:09 +00:00
Tristan Schnell
0519866bb4
implemented handling of different protocol versions for rtde text message parsing
2019-09-17 15:07:19 +02:00
Felix Mauch
4a0dba2e03
Added a subscriber to send custom script commands to the robot
2019-08-08 16:54:52 +02:00
Tristan Schnell
2980c19a40
moved service definition to seperate package
2019-08-05 17:28:19 +02:00
Tristan Schnell
82bb4bd8ff
added nullptr check before using ur_driver from hardware interface in set speed slider and set IO functions
2019-08-05 15:50:27 +02:00
Tristan Schnell
4ddfe664d9
changed ROS interface to use set speed slider service
2019-08-05 15:50:27 +02:00
Tristan Schnell
c6a5df9fdc
extended SetIO service to correctly set configurable and tool digital output
2019-08-01 13:44:49 +02:00
Tristan Schnell
02fac9cec0
implemented writer functionality for configurable and tool digital output
2019-08-01 13:44:49 +02:00
Tristan Schnell
f628ab353f
implemented setting of standard digital and analog outputs via SetIO service
2019-08-01 13:44:49 +02:00
Tristan Schnell
dc660b854d
implemented setting of speed_slider via ROS topic
2019-08-01 13:44:49 +02:00
Tristan Schnell
323125f84d
added input datatypes and necessary functionality for RTDE write to the data package class
2019-08-01 13:44:49 +02:00
Tristan Schnell
8a48b5019c
added RTDE write setup functionality to handshake
2019-08-01 13:44:49 +02:00
Tristan Schnell
5040a12e7c
fixed calculation of package size for v1 setup output and setup input packages
2019-07-30 11:33:48 +02:00
Tristan Schnell
8bacdc0fe1
added RTDE writer class and required interfaces for use in the hardware interface
2019-07-25 18:30:28 +02:00
Felix Mauch
da53c3b45c
Put package information in base package
2019-07-22 17:00:59 +02:00
Felix Mauch
2e71c18f70
added Publisher for tool data
2019-07-22 15:39:10 +02:00
Felix Mauch
5c1043205d
added standard analog IO
2019-07-18 15:55:27 +02:00
Felix Mauch
369f3594af
publish digital IO bits
2019-07-18 15:12:45 +02:00
Felix Mauch
9a2d890c6d
moved reading of rtde values into separate function
2019-07-18 11:49:09 +02:00
Felix Mauch
e63de16225
move calibration check to earlier time
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Otherwise it blocks reading RTDE data.
2019-07-18 11:12:44 +02:00
Felix Mauch
c38bd99647
move calibration check to ros-independent part
2019-07-16 13:01:13 +02:00
Felix Mauch
4a953be4a4
use rtde interface to query control pc's IP
2019-07-16 13:00:23 +02:00
Felix Mauch
7dd9bc0c55
added log message about program running
2019-07-16 11:53:30 +02:00
Felix Mauch
bc683903b7
Added a service to hand back control to the robot
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This way, Ros can be a part of a larger program.
2019-07-16 11:05:22 +02:00
gavanderhoorn
03e7030872
rtde_client: fix typos.
2019-07-15 07:49:48 +00:00
Felix Mauch
6979ec35e0
send keepalive signals only if the program is running
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when no program is running, we do not want to fill the buffer anyway.
2019-07-04 10:44:23 +02:00
Felix Mauch
a6a06526ac
disable starting controllers when robot control is inactive
...
Since we use the external controller stopper to take down controllers when
robot control is inactive, we also do not want that users can start controllers
while robot control is deactivated. The only exception is at startup time.
2019-06-27 14:43:40 +02:00
Felix Mauch
5934de2772
re-added a non-scaled position interface for position controllers
...
As this interface uses the same joint names as the scaled interface,
resourced conflicts are already managed by ros_control's resource claim
mechanisms.
2019-06-27 13:29:09 +02:00
Felix Mauch
14b9dd4f1b
send keepalive signal when no (commanding) controller is active
...
Otherwise the hardware disconnects as soon as we stop a controller by hand.
2019-06-27 13:29:09 +02:00
Felix Mauch
7e6b203b67
replace tcp_accuracy_checker with hash comparison
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This closes #34
2019-06-14 15:18:59 +02:00
Tristan Schnell
d88e6f12f4
added and fixed all licensing headers
2019-06-13 18:18:04 +02:00
Tristan Schnell
3aafabec29
removed unused legacy code
2019-06-13 17:18:18 +02:00
Felix Mauch
fd6a9ee365
Add a checker to inform the user about an uncalibrated robot.
2019-06-13 15:43:46 +02:00
Felix Mauch
c714af16ff
added a publisher for the tcp pose
2019-06-13 15:00:20 +02:00
Felix Mauch
c3d92dcde5
Use tf for transforming the fts measurements
2019-06-13 15:00:20 +02:00
Tristan Schnell
5eed6327ba
added exceptions for problems in rtde client handshake
2019-06-12 13:29:30 +02:00
Felix Mauch
adacb219c7
corrected naming scheme of fts-transformation
2019-06-12 12:23:03 +02:00
Tristan Schnell
ad129da4c1
reset controllers only on when robot program is started
2019-06-12 11:44:18 +02:00
Felix Mauch
75d6ae0a19
Move debug output to DEBUG stream
2019-06-12 10:20:13 +02:00
