Obbart/universal_robots_ros_driver
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435 Commits 12 Branches 1 Tag
db8bf458eef632d7b3a493e89a73018964a044c3
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Author SHA1 Message Date
Felix Mauch
db8bf458ee Added README file 2019-05-29 09:05:56 +02:00
Felix Mauch
6adda40a3f Cleaned up legacy code and updated documentation. 2019-05-29 09:05:56 +02:00
Felix Mauch
a603e9bb97 Improved handling of invalid save paths 2019-05-29 08:32:26 +02:00
Felix Mauch
0cced4a6c3 Define where the output file should go by a parameter 2019-05-28 16:53:08 +02:00
Felix Mauch
118b083ce8 sleep less before checking for calibration 2019-05-28 16:53:08 +02:00
Felix Mauch
c50556cc8a move real-value examples to other tests 
The ideal robot uses a non-perfect approximation for pi, which results in
larger errors (magnitude 10e-8) when comparing against a model with a more
exact pi. Therefore, we use the "UR-pi" for real-value test model.
 2019-05-28 16:53:08 +02:00
Felix Mauch
be0cb7f531 fix namespace move 2019-05-28 11:45:19 +02:00
Felix Mauch
a61788f694 use double precision in output of kinematics info 2019-05-28 11:26:27 +02:00
Felix Mauch
157b5a696c Made calibration extraction a working node. 2019-05-28 10:03:23 +02:00
Felix Mauch
22f392222e Pipeline: Stop on destruction explicitly 2019-05-28 09:49:33 +02:00
Felix Mauch
73624533b9 Fixed a couple of includes 2019-05-28 09:48:59 +02:00
Felix Mauch
2df2c4176f corrected default accuracy 2019-05-27 19:04:24 +02:00
Felix Mauch
afc1161b1d correctly depend on yaml-cpp 2019-05-27 18:42:17 +02:00
Felix Mauch
312fe8b1b7 moved calibration to own repository 2019-05-27 18:30:15 +02:00
Felix Mauch
ceb00d8d6d output simplified chain 2019-05-27 15:26:10 +02:00
Felix Mauch
f00f76d508 code formatting 2019-05-27 15:26:10 +02:00
Felix Mauch
4113f3ab2a Result in 6-jointed chain 2019-05-27 15:26:10 +02:00
Felix Mauch
bab303e83c Cleaned up tests 2019-05-27 15:26:10 +02:00
Felix Mauch
3d93dd4226 manually set corrections to 0 2019-05-27 15:26:10 +02:00
Felix Mauch
8d3b787b27 also check for rotation errors 2019-05-27 15:26:10 +02:00
Felix Mauch
579a39a7df check multiple calibrations in one run 2019-05-27 15:26:10 +02:00
Felix Mauch
281d4c3955 test 1000 random joint states in fk test 2019-05-27 15:26:10 +02:00
Felix Mauch
f373eca92b adding changed d parameter of next element to output 2019-05-27 15:26:10 +02:00
Felix Mauch
c96338c9e7 create xacro properties again 2019-05-27 15:26:10 +02:00
Felix Mauch
bc15944fa1 Use plain Eigen for kinematics 2019-05-27 15:26:10 +02:00
Felix Mauch
8a9192aeba reduce output during testing 2019-05-27 15:26:10 +02:00
Felix Mauch
eaae523484 implemented a prototype for an integration test for calibration 
We should put this into a proper calibration test.
 2019-05-27 15:26:10 +02:00
Felix Mauch
792cdc3a08 added unit tests for calibration 2019-05-27 15:26:10 +02:00
Felix Mauch
d2eb7a8683 added first version of calibration 2019-05-27 15:26:06 +02:00
Felix Mauch
5bbeae1c8f Use new gitlab-ci's include functionality 
Also removed clang-tidy check, as it became part of our global pipeline
 2019-05-06 15:26:18 +02:00
Tristan Schnell
9bafd44687 added handling of protocol-version 1 and CB3 robots 2019-04-17 16:53:39 +02:00
Felix Mauch
736cd36940 removed unnecessary const classifier 2019-04-16 09:30:45 +02:00
Felix Mauch
639da94588 Only write position commands if a position controller is active. 
Fixes #19
 2019-04-16 09:30:27 +02:00
Felix Mauch
d7f065a22d Upload URScript via primary interface 
Note: This will probably be changed later, but currently that's the
easiest way to handle this.
 2019-04-16 09:29:38 +02:00
Tristan Schnell
4c0aea4c4f added reverse client to publish targets to the robot 2019-04-11 18:16:15 +02:00
Felix Mauch
153585ad9d Added HardwareInterface 2019-04-11 17:29:56 +02:00
Felix Mauch
7b88b47aa1 Implemented getDataPackage function 2019-04-11 16:36:11 +02:00
Felix Mauch
5db802ffd0 Added executable for plain driver 2019-04-11 16:32:37 +02:00
Felix Mauch
c322bcb2f2 implemented usage of recipe read by rtde client in the parser and the 
rtde data package
 2019-04-11 16:05:26 +02:00
Tristan Schnell
420e04530f moved producer setup to pipeline initialization 2019-04-11 15:58:25 +02:00
Tristan Schnell
2eea2bf8fc implemented full rtde handshake to initialize constant publishing to 
data packages by the robot
 2019-04-11 15:58:10 +02:00
Tristan Schnell
8975957b5f implemented serializing of the output setup and control start packages 2019-04-11 15:53:15 +02:00
Tristan Schnell
b604af749f implemented serialization of general rtde headers and the request 
protocol version package
 2019-04-11 15:52:15 +02:00
Tristan Schnell
742bc11c8f added the rtde client class that initializes the rtde handshake and 
allows reading of data packages
 2019-04-11 15:51:10 +02:00
Tristan Schnell
89ee72ac2d reworked pipeline to allow for use without consumer 2019-04-11 15:51:10 +02:00
Felix Mauch
75d73c1c28 Added a check, whether the package was parsed completely. 2019-04-10 18:23:18 +02:00
Felix Mauch
3cde95a17b added a function to retrieve single components from a DataPackage 2019-04-10 18:23:18 +02:00
Felix Mauch
4a12a8c9ce Implemented RTDEParser 2019-04-10 18:23:18 +02:00
Felix Mauch
466fc03e31 Implemented parsing and toString for RTDE data package 2019-04-10 18:23:18 +02:00
Felix Mauch
642f040cd8 Do not use "using namespace" in header files 2019-04-10 17:24:34 +02:00