 Tristan Schnell
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8bacdc0fe1
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added RTDE writer class and required interfaces for use in the hardware interface
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2019-07-25 18:30:28 +02:00 |
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 Felix Mauch
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369f3594af
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publish digital IO bits
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2019-07-18 15:12:45 +02:00 |
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Felix Mauch
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e63de16225
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move calibration check to earlier time
Otherwise it blocks reading RTDE data.
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2019-07-18 11:12:44 +02:00 |
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Felix Mauch
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c38bd99647
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move calibration check to ros-independent part
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2019-07-16 13:01:13 +02:00 |
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Felix Mauch
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4a953be4a4
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use rtde interface to query control pc's IP
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2019-07-16 13:00:23 +02:00 |
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Felix Mauch
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7dd9bc0c55
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added log message about program running
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2019-07-16 11:53:30 +02:00 |
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Felix Mauch
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bc683903b7
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Added a service to hand back control to the robot
This way, Ros can be a part of a larger program.
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2019-07-16 11:05:22 +02:00 |
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Felix Mauch
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14b9dd4f1b
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send keepalive signal when no (commanding) controller is active
Otherwise the hardware disconnects as soon as we stop a controller by hand.
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2019-06-27 13:29:09 +02:00 |
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Felix Mauch
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7e6b203b67
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replace tcp_accuracy_checker with hash comparison
This closes #34
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2019-06-14 15:18:59 +02:00 |
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Tristan Schnell
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3aafabec29
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removed unused legacy code
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2019-06-13 17:18:18 +02:00 |
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Felix Mauch
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75d6ae0a19
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Move debug output to DEBUG stream
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2019-06-12 10:20:13 +02:00 |
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Felix Mauch
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5f405b3996
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explicitly throw special exception when tool_comm is not available
This way, we can catch it and give a better feedback to the user.
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2019-06-12 09:54:31 +02:00 |
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Felix Mauch
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520cd4d860
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throw exception when tool communication is requested for CB3
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2019-06-12 09:54:31 +02:00 |
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Felix Mauch
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4cd13b6b83
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implemented initialization of rs485 interface.
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2019-06-12 09:32:46 +02:00 |
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Tristan Schnell
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3f22a2479a
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implemented watchdog
it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
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2019-06-11 13:58:55 +02:00 |
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Felix Mauch
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c88022eefd
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Introduce UrException as exception base class
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2019-06-11 10:25:50 +02:00 |
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Felix Mauch
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c640badfb4
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removed legacy datatypes
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2019-06-06 16:28:56 +02:00 |
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Felix Mauch
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e250128d7e
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fix naming conventions
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2019-06-06 16:28:56 +02:00 |
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Felix Mauch
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ac14f4337c
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set servoj_gain to 2000
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2019-06-04 13:58:33 +02:00 |
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Tristan Schnell
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649f499499
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moved rtde recipe to external text file
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2019-05-23 15:19:56 +02:00 |
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Tristan Schnell
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a0ea50a031
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implemented script_sender and moved sending of robot program
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2019-05-23 11:26:50 +02:00 |
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Felix Mauch
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89ee1aae8a
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Load the script from an external file
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2019-05-20 12:28:35 +02:00 |
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Felix Mauch
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ec31db35b2
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removed deprecated code
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2019-05-20 11:35:58 +02:00 |
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Felix Mauch
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19cb6fa519
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do not use ROS logging inside non-ROS code
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2019-05-20 11:35:58 +02:00 |
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Felix Mauch
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ac5e4d85aa
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Use correct package header for temp primary client
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2019-05-20 11:35:49 +02:00 |
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Felix Mauch
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0e0bffcdc6
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Use correct naming scheme for variable robot_ip
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2019-05-20 11:35:08 +02:00 |
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Felix Mauch
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35322d208b
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extrapolate on missing packages
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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f3cdbac4c4
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Set step time from robot
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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68835be49b
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do not timeout on rtde_read
We should not timeout on that as this is the method of the robot commanding
the cycle time. We should unconditionally act on the robot's events.
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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e7c97150d5
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notify on missing packages
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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b5bf8660be
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add parameters to URScript program
Fill parameters on PC side
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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4106aa9fb8
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get frequency from robot
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2019-05-16 13:49:22 +02:00 |
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Felix Mauch
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be5553648d
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moved driver to subfolder
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2019-05-16 13:48:35 +02:00 |
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