Thomas Timm Andersen
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09dbe010ae
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Optimized servoj function call for firmware version >= 3.1
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2015-10-30 12:55:51 +01:00 |
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Thomas Timm Andersen
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14e9a25dd8
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Removed hardcoded velocity limit in vel_based ros_control
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2015-10-30 12:48:30 +01:00 |
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Thomas Timm Andersen
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2e37fb00df
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Code cleanup
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2015-10-28 11:27:38 +01:00 |
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Thomas Timm Andersen
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839d90c4ab
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Added a check to see that the robot is connected before attempting to write to the socket. Fixes #11
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2015-10-28 11:25:59 +01:00 |
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Thomas Timm Andersen
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c3f3da922a
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Fixed #9. Now data streaming is much more regular
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2015-10-27 11:43:45 +01:00 |
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Thomas Timm Andersen
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d31fe29d65
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Changed default servoj_time for better backwards compatibility and smoother pos_based ros_control
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2015-10-20 14:38:03 +02:00 |
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Thomas Timm Andersen
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a918626dad
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Added info message about reconnection aquired
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2015-10-20 13:41:45 +02:00 |
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Thomas Timm Andersen
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1de174d73f
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code cleanup
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2015-10-20 13:24:52 +02:00 |
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Thomas Timm Andersen
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f856487e9f
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Added stability to reverse connection. Resolves #6
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2015-10-20 13:21:23 +02:00 |
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Thomas Timm Andersen
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6c3cade12f
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Changed license to Apache 2.0
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2015-10-20 12:49:28 +02:00 |
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Thomas Timm Andersen
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1c3fe82116
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Fixed an issue with using a simulated robot on firmware <= 1.8
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2015-10-20 12:16:38 +02:00 |
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Thomas Timm Andersen
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8a4cdb51da
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Made sure to stop any executing trajectory when the driver is halted
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2015-10-20 11:01:54 +02:00 |
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Thomas Timm Andersen
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189ecc71ed
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Changed servoj_time handling to minimize network transfers. Fixes #7
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2015-10-20 10:57:39 +02:00 |
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Thomas Timm Andersen
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6b6ded461b
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Improved goal handling.
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
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2015-10-09 14:39:24 +02:00 |
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Thomas Timm Andersen
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d8602c2246
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Added detection of E-stop and protective stop.
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2015-10-09 13:18:38 +02:00 |
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Thomas Timm Andersen
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80e344d167
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Fixed an issue where canceling a trajectory wouldn't stop the robot.
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2015-10-09 10:47:29 +02:00 |
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Thomas Timm Andersen
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e354ada3ab
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changed to use goal_handle_ instead of goal_
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2015-10-08 17:23:19 +02:00 |
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Thomas Timm Andersen
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e970a99b01
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fixed typo in error string
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2015-10-08 17:04:31 +02:00 |
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Thomas Timm Andersen
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d4102dd97d
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Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in
non-ros-control mode
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2015-10-08 17:01:37 +02:00 |
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Thomas Timm Andersen
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d8b8d86ecb
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Changed minimum servoj time. Fixes #3
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2015-10-08 15:50:22 +02:00 |
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Thomas Timm Andersen
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52b68cbd9c
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Stop sending data to servoj when stopTraj is called
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2015-10-08 15:48:05 +02:00 |
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Thomas Timm Andersen
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1d54bcca1d
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Stop sending data to servoj when stopTraj is called
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2015-10-08 15:47:39 +02:00 |
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Thomas Timm Andersen
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8c9595bbf2
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Merge branch 'speed_rate_limit'
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2015-10-08 15:38:50 +02:00 |
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Thomas Timm Andersen
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589dca8e2a
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Improved ros_control performance and stability
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2015-10-08 15:37:49 +02:00 |
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Thomas Timm Andersen
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f592d2189a
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Added a check to incoming goals to see if there are any points in the trajectory
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2015-10-08 13:44:24 +02:00 |
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Thomas Timm Andersen
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22e7d799c2
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Changed the servoj loop time for better stability
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2015-10-01 12:28:16 +02:00 |
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Thomas Timm Andersen
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68b751cdcc
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Fixed order of starting and stopping controllers
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2015-09-25 10:19:58 +02:00 |
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Thomas Timm Andersen
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5c785af6c4
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Included a position-based controller. Also prettied up printing
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2015-09-25 09:57:33 +02:00 |
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Thomas Timm Andersen
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ba96d0f098
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Split servoj into several functions for reuseability
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2015-09-24 16:51:18 +02:00 |
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Thomas Timm Andersen
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402f5c0170
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Removed old description carried over from boilerplate
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2015-09-24 16:39:13 +02:00 |
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Thomas Timm Andersen
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a2c074eec4
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Added parameter to use eiter ros_control or old-style interface
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2015-09-24 16:37:14 +02:00 |
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Thomas Timm Andersen
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6f3bd5d06f
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Added catch in case communication fails
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2015-09-24 16:26:19 +02:00 |
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Thomas Timm Andersen
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5ccd97a276
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Merge branch 'master' into ros-control
Conflicts:
src/ur_communication.cpp
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2015-09-24 16:17:18 +02:00 |
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Thomas Timm Andersen
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6e9f646b02
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Added reconnect to secondary port
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2015-09-24 16:10:33 +02:00 |
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Thomas Timm Andersen
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039664a1a3
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Added reconnect to RT port
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2015-09-24 15:47:47 +02:00 |
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Thomas Timm Andersen
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7c6080e89e
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Added reconnect feature on RT port
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2015-09-24 15:36:54 +02:00 |
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Thomas Timm Andersen
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639597eacd
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Re-included io_states publisher
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2015-09-24 14:11:07 +02:00 |
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Thomas Timm Andersen
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1e8f13f232
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Added control switching
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2015-09-24 13:50:53 +02:00 |
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Thomas Timm Andersen
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af601b9c32
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Implemented ros-control
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2015-09-24 10:27:55 +02:00 |
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Thomas Timm Andersen
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d5ea350145
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Verified all functionality on all simulators
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2015-09-22 13:40:03 +02:00 |
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Thomas Timm Andersen
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fdcf4936de
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Deleted some commented code
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2015-09-22 12:40:31 +02:00 |
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Thomas Timm Andersen
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46e97f1e57
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Deleted some commented code
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2015-09-22 12:39:24 +02:00 |
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Thomas Timm Andersen
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1e7f15e49b
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Removed wait in accept_goal
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2015-09-22 12:26:22 +02:00 |
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Thomas Timm Andersen
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64a33bf5ed
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Changed how trajectories are handled to try and speed things up
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2015-09-22 10:34:09 +02:00 |
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Thomas Timm Andersen
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c4af674faa
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Changed how trajectories are handled to try and speed things up
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2015-09-22 10:29:44 +02:00 |
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Thomas Timm Andersen
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208995d8f3
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Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step
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2015-09-18 15:00:36 +02:00 |
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Thomas Timm Andersen
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36c8b70ba0
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Removed commented code and non-RT socket write
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2015-09-17 13:59:42 +02:00 |
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Thomas Timm Andersen
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0310193b15
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Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs
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2015-09-17 13:40:16 +02:00 |
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Thomas Timm Andersen
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fc219e4eee
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Limited the published IO state to 10 for pre 3.0
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2015-09-17 13:29:55 +02:00 |
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Thomas Timm Andersen
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ff8b5522a2
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Added sanity check to setSpeed input
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2015-09-17 10:10:45 +02:00 |
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