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
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
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
8bacdc0fe1
added RTDE writer class and required interfaces for use in the hardware interface
2019-07-25 18:30:28 +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
c38bd99647
move calibration check to ros-independent part
2019-07-16 13:01:13 +02:00
Felix Mauch
bc683903b7
Added a service to hand back control to the robot
...
This way, Ros can be a part of a larger program.
2019-07-16 11:05:22 +02:00
Felix Mauch
6979ec35e0
send keepalive signals only if the program is running
...
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
...
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
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
Felix Mauch
00d20cb501
removed info about speed scaling rampup
2019-06-12 10:18:20 +02:00
Felix Mauch
5f405b3996
explicitly throw special exception when tool_comm is not available
...
This way, we can catch it and give a better feedback to the user.
2019-06-12 09:54:31 +02:00
Felix Mauch
4cd13b6b83
implemented initialization of rs485 interface.
2019-06-12 09:32:46 +02:00
Tristan Schnell
e4a2e9e743
renamed hardware interface function that handles changes in robot-program state
2019-06-11 14:02:07 +02:00
Tristan Schnell
ac9b4ef73a
added ros-publishing of changes in the state of the program on the robot
2019-06-11 14:01:08 +02:00
Tristan Schnell
6337d4a374
added ros controller reset when robot program isn't running
2019-06-11 14:01:02 +02:00
Tristan Schnell
3f22a2479a
implemented watchdog
...
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
2019-06-11 13:58:55 +02:00
Felix Mauch
c88022eefd
Introduce UrException as exception base class
2019-06-11 10:25:50 +02:00
Felix Mauch
e250128d7e
fix naming conventions
2019-06-06 16:28:56 +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
4f646bb888
Only send robot commands, when robot is in runtime states PLAYING and
...
PAUSING
2019-06-04 13:57:02 +02:00
Tristan Schnell
649f499499
moved rtde recipe to external text file
2019-05-23 15:19:56 +02:00
Felix Mauch
89ee1aae8a
Load the script from an external file
2019-05-20 12:28:35 +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
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
4106aa9fb8
get frequency from robot
2019-05-16 13:49:22 +02:00
