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
bb36999868
only join cThread if created
2019-06-12 09:32:46 +02:00
4cd13b6b83
implemented initialization of rs485 interface.
2019-06-12 09:32:46 +02:00
e4a2e9e743
renamed hardware interface function that handles changes in robot-program state
2019-06-11 14:02:07 +02:00
ac9b4ef73a
added ros-publishing of changes in the state of the program on the robot
2019-06-11 14:01:08 +02:00
6337d4a374
added ros controller reset when robot program isn't running
2019-06-11 14:01:02 +02:00
3f22a2479a
implemented watchdog
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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
7e56332b26
removed no longer used and supported plain driver startup
2019-06-11 13:19:18 +02:00
c88022eefd
Introduce UrException as exception base class
2019-06-11 10:25:50 +02:00
48103aca49
added header_guards for ur_driver
2019-06-06 17:37:39 +02:00
c640badfb4
removed legacy datatypes
2019-06-06 16:28:56 +02:00
e250128d7e
fix naming conventions
2019-06-06 16:28:56 +02:00
9788504f93
make queue match naming conventions
2019-06-06 16:28:56 +02:00
212ce85dfe
Fixed maintainer information in package.xml
2019-06-06 16:28:56 +02:00
b22ac7b2c6
changed new urscript to publish keepalive
...
Part of #13
2019-06-06 15:53:53 +02:00
673459e9de
cleaned up control urscript
...
Less verbose output and more explicit shutdown. Part of #13
2019-06-06 15:53:53 +02:00
7b6175d248
corrected eigen depend tag in package.xml
2019-06-06 07:46:11 +02:00
00e0fbee3d
transform fts measurements to tcp
...
They are reported in base coordinate frame from the robot.
2019-06-05 17:11:55 +02:00
45430ec0e7
Added interface for force-torque sensor
...
Closes #20
2019-06-05 17:11:55 +02:00
38f1661617
Ramp up after pause
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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
118f938543
e-series adaption
2019-06-04 13:58:33 +02:00
ac14f4337c
set servoj_gain to 2000
2019-06-04 13:58:33 +02:00
4f646bb888
Only send robot commands, when robot is in runtime states PLAYING and
...
PAUSING
2019-06-04 13:57:02 +02:00
765812b4ae
Use ros-independent logging commands in pipeline.
2019-06-03 09:57:43 +02:00
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
db8bf458ee
Added README file
2019-05-29 09:05:56 +02:00
6adda40a3f
Cleaned up legacy code and updated documentation.
2019-05-29 09:05:56 +02:00
a603e9bb97
Improved handling of invalid save paths
2019-05-29 08:32:26 +02:00
0cced4a6c3
Define where the output file should go by a parameter
2019-05-28 16:53:08 +02:00
118b083ce8
sleep less before checking for calibration
2019-05-28 16:53:08 +02:00
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
be0cb7f531
fix namespace move
2019-05-28 11:45:19 +02:00
a61788f694
use double precision in output of kinematics info
2019-05-28 11:26:27 +02:00
157b5a696c
Made calibration extraction a working node.
2019-05-28 10:03:23 +02:00
22f392222e
Pipeline: Stop on destruction explicitly
2019-05-28 09:49:33 +02:00
73624533b9
Fixed a couple of includes
2019-05-28 09:48:59 +02:00
2df2c4176f
corrected default accuracy
2019-05-27 19:04:24 +02:00
afc1161b1d
correctly depend on yaml-cpp
2019-05-27 18:42:17 +02:00
312fe8b1b7
moved calibration to own repository
2019-05-27 18:30:15 +02:00
ceb00d8d6d
output simplified chain
2019-05-27 15:26:10 +02:00
f00f76d508
code formatting
2019-05-27 15:26:10 +02:00
4113f3ab2a
Result in 6-jointed chain
2019-05-27 15:26:10 +02:00
bab303e83c
Cleaned up tests
2019-05-27 15:26:10 +02:00
3d93dd4226
manually set corrections to 0
2019-05-27 15:26:10 +02:00
8d3b787b27
also check for rotation errors
2019-05-27 15:26:10 +02:00
579a39a7df
check multiple calibrations in one run
2019-05-27 15:26:10 +02:00
281d4c3955
test 1000 random joint states in fk test
2019-05-27 15:26:10 +02:00
f373eca92b
adding changed d parameter of next element to output
2019-05-27 15:26:10 +02:00
c96338c9e7
create xacro properties again
2019-05-27 15:26:10 +02:00
bc15944fa1
Use plain Eigen for kinematics
2019-05-27 15:26:10 +02:00
Felix Mauch
Tristan Schnell