Obbart/universal_robots_ros_driver
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Author SHA1 Message Date
Thomas Timm Andersen 189ecc71ed Changed servoj_time handling to minimize network transfers. Fixes #7 2015-10-20 10:57:39 +02:00
Thomas Timm Andersen 0c901bd7e3 Included suggestion to update build-essential pkg if compiler doesn't support c++11 2015-10-20 10:14:57 +02:00
Thomas Timm Andersen cb5409685f Added install targets 2015-10-20 10:09:49 +02:00
Simon Jansen c18ff438ca Add install targets 2015-10-16 13:27:42 +02:00
Simon 644ea2491c Rollback to original (diagnostics is now in separate branch) 2015-10-09 16:44:00 +02:00
Thomas Timm Andersen 6b6ded461b Improved goal handling. 
If the robot receives a new goal before the previous is succeeded, the previous will be aborted
 2015-10-09 14:39:24 +02:00
Thomas Timm Andersen d8602c2246 Added detection of E-stop and protective stop. 2015-10-09 13:18:38 +02:00
Thomas Timm Andersen 80e344d167 Fixed an issue where canceling a trajectory wouldn't stop the robot. 2015-10-09 10:47:29 +02:00
Thomas Timm Andersen e354ada3ab changed to use goal_handle_ instead of goal_ 2015-10-08 17:23:19 +02:00
Thomas Timm Andersen e970a99b01 fixed typo in error string 2015-10-08 17:04:31 +02:00
Simon 5c7daf4365 Remove obsolete robot state publisher 2015-10-08 17:03:36 +02:00
Simon a18aae9154 Publisher driver state as diagnostics 2015-10-08 17:03:12 +02:00
Thomas Timm Andersen d4102dd97d Changed from simpleActionServer to Actionserver. Fixed bug that prevented starting the driver in 
non-ros-control mode
 2015-10-08 17:01:37 +02:00
Thomas Timm Andersen d8b8d86ecb Changed minimum servoj time. Fixes #3 2015-10-08 15:50:22 +02:00
Thomas Timm Andersen 52b68cbd9c Stop sending data to servoj when stopTraj is called 2015-10-08 15:48:05 +02:00
Thomas Timm Andersen 1d54bcca1d Stop sending data to servoj when stopTraj is called 2015-10-08 15:47:39 +02:00
Thomas Timm Andersen 8c9595bbf2 Merge branch 'speed_rate_limit' 2015-10-08 15:38:50 +02:00
Thomas Timm Andersen 589dca8e2a Improved ros_control performance and stability 2015-10-08 15:37:49 +02:00
Simon 7fdff1c66d Publish robot_state 2015-10-08 15:06:04 +02:00
Thomas Timm Andersen f592d2189a Added a check to incoming goals to see if there are any points in the trajectory 2015-10-08 13:44:24 +02:00
Jeppe Walther 58361900b8 UR3 Support 2015-10-06 17:14:59 +02:00
Thomas Timm Andersen 22e7d799c2 Changed the servoj loop time for better stability 2015-10-01 12:28:16 +02:00
Thomas Timm Andersen 5672f57500 Update README.md 
Ficed a few typos
 2015-09-25 13:19:33 +02:00
Thomas Timm Andersen 8e08f80dc1 Fixed a few typos in Readme.md 2015-09-25 13:01:48 +02:00
Thomas Timm Andersen f24ac6d567 Updated the readme with instructions for using ros_control 2015-09-25 12:14:35 +02:00
Thomas Timm Andersen 8c25a4495f Updated launch files 2015-09-25 11:28:54 +02:00
Thomas Timm Andersen 980eb8ddd9 Updated ur10_ros_control.launch to load all controllers 2015-09-25 10:20:56 +02:00
Thomas Timm Andersen 68b751cdcc Fixed order of starting and stopping controllers 2015-09-25 10:19:58 +02:00
Thomas Timm Andersen dc49deaf18 Made sure all controllers are loaded 2015-09-25 09:59:10 +02:00
Thomas Timm Andersen 5c785af6c4 Included a position-based controller. Also prettied up printing 2015-09-25 09:57:33 +02:00
Thomas Timm Andersen a15fcc695c Specified type of position_trajectory_controller 2015-09-24 16:59:31 +02:00
Thomas Timm Andersen ba96d0f098 Split servoj into several functions for reuseability 2015-09-24 16:51:18 +02:00
Thomas Timm Andersen 402f5c0170 Removed old description carried over from boilerplate 2015-09-24 16:39:13 +02:00
Thomas Timm Andersen a2c074eec4 Added parameter to use eiter ros_control or old-style interface 2015-09-24 16:37:14 +02:00
Thomas Timm Andersen 6f3bd5d06f Added catch in case communication fails 2015-09-24 16:26:19 +02:00
Thomas Timm Andersen ef7acd55b6 Merge branch 'ros-control' 2015-09-24 16:18:19 +02:00
Thomas Timm Andersen 5ccd97a276 Merge branch 'master' into ros-control 
Conflicts:
	src/ur_communication.cpp
 2015-09-24 16:17:18 +02:00
Thomas Timm Andersen 6e9f646b02 Added reconnect to secondary port 2015-09-24 16:10:33 +02:00
Thomas Timm Andersen 039664a1a3 Added reconnect to RT port 2015-09-24 15:47:47 +02:00
Thomas Timm Andersen 7c6080e89e Added reconnect feature on RT port 2015-09-24 15:36:54 +02:00
Thomas Timm Andersen 8ae3a86a62 Clean up 2015-09-24 14:18:24 +02:00
Thomas Timm Andersen 639597eacd Re-included io_states publisher 2015-09-24 14:11:07 +02:00
Thomas Timm Andersen 1e8f13f232 Added control switching 2015-09-24 13:50:53 +02:00
Thomas Timm Andersen af601b9c32 Implemented ros-control 2015-09-24 10:27:55 +02:00
Thomas Timm Andersen d5ea350145 Verified all functionality on all simulators 2015-09-22 13:40:03 +02:00
Thomas Timm Andersen fdcf4936de Deleted some commented code 2015-09-22 12:40:31 +02:00
Thomas Timm Andersen 46e97f1e57 Deleted some commented code 2015-09-22 12:39:24 +02:00
Thomas Timm Andersen 1e7f15e49b Removed wait in accept_goal 2015-09-22 12:26:22 +02:00
Thomas Timm Andersen 64a33bf5ed Changed how trajectories are handled to try and speed things up 2015-09-22 10:34:09 +02:00
Thomas Timm Andersen c4af674faa Changed how trajectories are handled to try and speed things up 2015-09-22 10:29:44 +02:00