33 Commits

Author	SHA1	Message	Date
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	369f3594af	publish digital IO bits	2019-07-18 15:12:45 +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
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	3aafabec29	removed unused legacy code	2019-06-13 17:18:18 +02:00
Felix Mauch	75d6ae0a19	Move debug output to DEBUG stream	2019-06-12 10:20:13 +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	4cd13b6b83	implemented initialization of rs485 interface.	2019-06-12 09:32:46 +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	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	ac14f4337c	set servoj_gain to 2000	2019-06-04 13:58:33 +02:00
Tristan Schnell	649f499499	moved rtde recipe to external text file	2019-05-23 15:19:56 +02:00
Tristan Schnell	a0ea50a031	implemented script_sender and moved sending of robot program	2019-05-23 11:26:50 +02:00
Felix Mauch	89ee1aae8a	Load the script from an external file	2019-05-20 12:28:35 +02:00
Felix Mauch	ec31db35b2	removed deprecated code	2019-05-20 11:35:58 +02:00
Felix Mauch	19cb6fa519	do not use ROS logging inside non-ROS code	2019-05-20 11:35:58 +02:00
Felix Mauch	ac5e4d85aa	Use correct package header for temp primary client	2019-05-20 11:35:49 +02:00
Felix Mauch	0e0bffcdc6	Use correct naming scheme for variable robot_ip	2019-05-20 11:35:08 +02:00
Felix Mauch	35322d208b	extrapolate on missing packages	2019-05-16 13:49:22 +02:00
Felix Mauch	f3cdbac4c4	Set step time from robot	2019-05-16 13:49:22 +02:00
Felix Mauch	68835be49b	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.	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	b5bf8660be	add parameters to URScript program ... Fill parameters on PC side	2019-05-16 13:49:22 +02:00
Felix Mauch	4106aa9fb8	get frequency from robot	2019-05-16 13:49:22 +02:00
Felix Mauch	be5553648d	moved driver to subfolder	2019-05-16 13:48:35 +02:00