Obbart/universal_robots_ros_driver
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Code Releases Activity
349 Commits 12 Branches 1 Tag
d631f2fad1cd6b5e658bc9111925f3e684d49d2a
Commit Graph

190 Commits

Author SHA1 Message Date
Thomas Timm Andersen 09dbe010ae Optimized servoj function call for firmware version >= 3.1 2015-10-30 12:55:51 +01:00
Thomas Timm Andersen 14e9a25dd8 Removed hardcoded velocity limit in vel_based ros_control 2015-10-30 12:48:30 +01:00
Thomas Timm Andersen 2e37fb00df Code cleanup 2015-10-28 11:27:38 +01:00
Thomas Timm Andersen 839d90c4ab Added a check to see that the robot is connected before attempting to write to the socket. Fixes #11 2015-10-28 11:25:59 +01:00
Thomas Timm Andersen c3f3da922a Fixed #9. Now data streaming is much more regular 2015-10-27 11:43:45 +01:00
Thomas Timm Andersen d31fe29d65 Changed default servoj_time for better backwards compatibility and smoother pos_based ros_control 2015-10-20 14:38:03 +02:00
Thomas Timm Andersen a918626dad Added info message about reconnection aquired 2015-10-20 13:41:45 +02:00
Thomas Timm Andersen 1de174d73f code cleanup 2015-10-20 13:24:52 +02:00
Thomas Timm Andersen f856487e9f Added stability to reverse connection. Resolves #6 2015-10-20 13:21:23 +02:00
Thomas Timm Andersen 6c3cade12f Changed license to Apache 2.0 2015-10-20 12:49:28 +02:00
Thomas Timm Andersen 1c3fe82116 Fixed an issue with using a simulated robot on firmware <= 1.8 2015-10-20 12:16:38 +02:00
Thomas Timm Andersen 8a4cdb51da Made sure to stop any executing trajectory when the driver is halted 2015-10-20 11:01:54 +02:00
Thomas Timm Andersen 189ecc71ed Changed servoj_time handling to minimize network transfers. Fixes #7 2015-10-20 10:57:39 +02:00
Thomas Timm Andersen 6b6ded461b Improved goal handling. 
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
 2015-10-09 14:39:24 +02:00
Thomas Timm Andersen d8602c2246 Added detection of E-stop and protective stop. 2015-10-09 13:18:38 +02:00
Thomas Timm Andersen 80e344d167 Fixed an issue where canceling a trajectory wouldn't stop the robot. 2015-10-09 10:47:29 +02:00
Thomas Timm Andersen e354ada3ab changed to use goal_handle_ instead of goal_ 2015-10-08 17:23:19 +02:00
Thomas Timm Andersen e970a99b01 fixed typo in error string 2015-10-08 17:04:31 +02:00
Thomas Timm Andersen d4102dd97d Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in 
non-ros-control mode
 2015-10-08 17:01:37 +02:00
Thomas Timm Andersen d8b8d86ecb Changed minimum servoj time. Fixes #3 2015-10-08 15:50:22 +02:00
Thomas Timm Andersen 52b68cbd9c Stop sending data to servoj when stopTraj is called 2015-10-08 15:48:05 +02:00
Thomas Timm Andersen 1d54bcca1d Stop sending data to servoj when stopTraj is called 2015-10-08 15:47:39 +02:00
Thomas Timm Andersen 8c9595bbf2 Merge branch 'speed_rate_limit' 2015-10-08 15:38:50 +02:00
Thomas Timm Andersen 589dca8e2a Improved ros_control performance and stability 2015-10-08 15:37:49 +02:00
Thomas Timm Andersen f592d2189a Added a check to incoming goals to see if there are any points in the trajectory 2015-10-08 13:44:24 +02:00
Thomas Timm Andersen 22e7d799c2 Changed the servoj loop time for better stability 2015-10-01 12:28:16 +02:00
Thomas Timm Andersen 68b751cdcc Fixed order of starting and stopping controllers 2015-09-25 10:19:58 +02:00
Thomas Timm Andersen 5c785af6c4 Included a position-based controller. Also prettied up printing 2015-09-25 09:57:33 +02:00
Thomas Timm Andersen ba96d0f098 Split servoj into several functions for reuseability 2015-09-24 16:51:18 +02:00
Thomas Timm Andersen 402f5c0170 Removed old description carried over from boilerplate 2015-09-24 16:39:13 +02:00
Thomas Timm Andersen a2c074eec4 Added parameter to use eiter ros_control or old-style interface 2015-09-24 16:37:14 +02:00
Thomas Timm Andersen 6f3bd5d06f Added catch in case communication fails 2015-09-24 16:26:19 +02:00
Thomas Timm Andersen 5ccd97a276 Merge branch 'master' into ros-control 
Conflicts:
	src/ur_communication.cpp
 2015-09-24 16:17:18 +02:00
Thomas Timm Andersen 6e9f646b02 Added reconnect to secondary port 2015-09-24 16:10:33 +02:00
Thomas Timm Andersen 039664a1a3 Added reconnect to RT port 2015-09-24 15:47:47 +02:00
Thomas Timm Andersen 7c6080e89e Added reconnect feature on RT port 2015-09-24 15:36:54 +02:00
Thomas Timm Andersen 639597eacd Re-included io_states publisher 2015-09-24 14:11:07 +02:00
Thomas Timm Andersen 1e8f13f232 Added control switching 2015-09-24 13:50:53 +02:00
Thomas Timm Andersen af601b9c32 Implemented ros-control 2015-09-24 10:27:55 +02:00
Thomas Timm Andersen d5ea350145 Verified all functionality on all simulators 2015-09-22 13:40:03 +02:00
Thomas Timm Andersen fdcf4936de Deleted some commented code 2015-09-22 12:40:31 +02:00
Thomas Timm Andersen 46e97f1e57 Deleted some commented code 2015-09-22 12:39:24 +02:00
Thomas Timm Andersen 1e7f15e49b Removed wait in accept_goal 2015-09-22 12:26:22 +02:00
Thomas Timm Andersen 64a33bf5ed Changed how trajectories are handled to try and speed things up 2015-09-22 10:34:09 +02:00
Thomas Timm Andersen c4af674faa Changed how trajectories are handled to try and speed things up 2015-09-22 10:29:44 +02:00
Thomas Timm Andersen 208995d8f3 Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step 2015-09-18 15:00:36 +02:00
Thomas Timm Andersen 36c8b70ba0 Removed commented code and non-RT socket write 2015-09-17 13:59:42 +02:00
Thomas Timm Andersen 0310193b15 Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs 2015-09-17 13:40:16 +02:00
Thomas Timm Andersen fc219e4eee Limited the published IO state to 10 for pre 3.0 2015-09-17 13:29:55 +02:00
Thomas Timm Andersen ff8b5522a2 Added sanity check to setSpeed input 2015-09-17 10:10:45 +02:00