Obbart/universal_robots_ros_driver
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Code Releases Activity
579 Commits 12 Branches 1 Tag
dc660b854d86577d3da24da1a1d8b01024b438d4
Commit Graph

70 Commits

Author SHA1 Message Date
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 
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 
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 
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
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
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
520cd4d860 throw exception when tool communication is requested for CB3 2019-06-12 09:54:31 +02:00
Felix Mauch
e0201002f6 introduced VersionInformation 
Use this as a data container to store version information in.
 2019-06-12 09:54:31 +02:00
Felix Mauch
e1e71b5cb4 setup timeout for tcp sockets 
If we want to be able to stop the producer, we'll have to make sure,
it is not hanging inside the recv function because no new packages came in.
 2019-06-12 09:54:27 +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
Tristan Schnell
7e56332b26 removed no longer used and supported plain driver startup 2019-06-11 13:19:18 +02:00
Felix Mauch
c88022eefd Introduce UrException as exception base class 2019-06-11 10:25:50 +02:00
Felix Mauch
c640badfb4 removed legacy datatypes 2019-06-06 16:28:56 +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
ac14f4337c set servoj_gain to 2000 2019-06-04 13:58:33 +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
Felix Mauch
b15a416d06 Merge branch 'calibration_new' 
This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
 2019-06-03 09:41:59 +02:00