Obbart/universal_robots_ros_driver
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Code Releases Activity
241 Commits 12 Branches 1 Tag
e4560097c8c89436f996ad8f6f93ac3ebd00f09e
Commit Graph

150 Commits

Author SHA1 Message Date
Simon Rasmussen e4560097c8 Parameter parsing 2017-07-07 19:15:35 +02:00
Simon Rasmussen f3e11bfc29 minor improvements 2017-07-07 19:15:17 +02:00
Simon Rasmussen 93bf3487dd Fixed trajectory issue 2017-07-07 16:39:34 +02:00
Simon Rasmussen f35f40b45d WIP 2017-07-07 15:26:39 +02:00
Simon Rasmussen 0479c047d3 Trjaectory follower improvements 2017-05-19 01:29:22 +02:00
Simon Rasmussen 502506e7fc Main 2017-05-19 01:28:46 +02:00
Simon Rasmussen 0c23d0bf3d Added set options function for sockets 2017-05-19 01:23:35 +02:00
Simon Rasmussen 8d845c6f38 Action server improvements 2017-05-19 01:21:23 +02:00
Simon Rasmussen c59bfc78cc Major refactor 2017-04-27 06:40:03 +02:00
Simon Rasmussen 46f4e493cf Big code dump 2017-04-17 13:04:12 +02:00
Simon Rasmussen b4bb424058 Fixed minor issues 2017-04-15 01:45:29 +02:00
Simon Rasmussen dd8169d371 Factory and setup improvements 2017-04-13 10:48:59 +02:00
Simon Rasmussen 97add752a1 Implemented ros control 2017-04-13 10:47:41 +02:00
Simon Rasmussen 2a80601e84 Rt publisher improvement 2017-04-13 10:45:58 +02:00
Simon Rasmussen bbe2102ac8 Initial implementation of commander 2017-04-13 10:43:31 +02:00
Simon Rasmussen 1e34cdaa37 Improved stream implementation 2017-04-13 10:40:27 +02:00
Simon Rasmussen a4ca9f1703 Changed masterboard IO data to bitset 2017-04-13 10:34:51 +02:00
Simon Rasmussen 7828304e37 Removed old state file 2017-03-03 03:55:29 +01:00
Simon Rasmussen 474f469e97 Adopted roscpp code style and naming convention 2017-03-01 14:15:40 +01:00
Simon Rasmussen e4bc40fc09 Fixed minor parsing issues with RTState 2017-03-01 12:40:55 +01:00
Simon Rasmussen 88c582cd58 Fixed log format error 2017-03-01 00:03:44 +01:00
Simon Rasmussen ff36a13aea Fixed RTState parsing bug 2017-03-01 00:00:03 +01:00
Simon Rasmussen f8be2834b0 RTPublisher main 2017-02-16 22:52:19 +01:00
Simon Rasmussen 9c1077a779 Improved URStream logging 2017-02-16 22:50:35 +01:00
Simon Rasmussen b422107c08 Improved RTPublisher 2017-02-16 22:49:10 +01:00
Simon Rasmussen a78d3eadf3 Added clang formatting 2017-02-16 02:03:40 +01:00
Simon Rasmussen e00cfac0ee new entry point WIP 2017-02-16 01:54:21 +01:00
Simon Rasmussen c824c37303 Implemented RT publishing 2017-02-16 01:52:59 +01:00
Simon Rasmussen c282c961f7 Completed parsing of UR state, messages and RT 2017-02-16 01:52:22 +01:00
Simon Rasmussen 43974dcbf2 Refactoring, improvements and fixes 2017-02-09 12:16:51 +01:00
Simon Rasmussen e523a5d466 Newline parity between printf and ros logging 2017-02-08 10:33:22 +01:00
Simon Rasmussen b6eb109cd3 Implemented URStateParser, URRTStateParser and URProducer 2017-02-06 14:39:37 +01:00
Simon Rasmussen ffe2bbe96a Implemented initial robot state and parsing 2017-02-06 14:26:00 +01:00
Simon Rasmussen c7bee00cc1 Removed uneeded pipeline.cpp 2017-02-06 14:20:34 +01:00
Simon Rasmussen efcb738325 Implemented URStream 2017-02-06 14:15:03 +01:00
Simon Rasmussen c42bdc4075 Implemented abstract pipeline design 2017-01-30 02:29:18 +01:00
Miguel Prada fe9762e9d5 Expose tool pose/twist from RT when ros_control is active. 
Replicates #20 for the case where ros_control is active.
 2016-11-08 18:38:44 +01:00
Thomas Timm Andersen e785ce0860 Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47 2016-08-30 11:49:25 +02:00
Thomas Timm Andersen d8012be697 Merge branch 'master' of https://github.com/ThomasTimm/ur_modern_driver 2016-08-30 11:45:45 +02:00
Miguel Prada e2f6e995c3 Fix velocity interface after changes in SW > 3.1. 
Behaviour of t parameter in speedj command has changed and requires not to set this (optional) parameter for correct behaviour in SW > 3.1.
 2016-06-15 12:12:06 +02:00
Thomas Timm Andersen c46005019e Very minor code cleanup 2016-06-14 13:58:56 +02:00
Thomas Timm Andersen 5b22e46450 Changed time base for ros_control. Fixes #44 2016-05-03 10:11:01 +02:00
Simon Jansen 3e17e760fd Fix: New order in digital outputs 
0-7: standard digital out
8-15: configurable digital out
16-17: tool digital out
 2016-03-18 15:42:20 +01:00
Thomas Timm Andersen 0dc244bbe8 Fixed a bug where tool0_controller position was all 0 for ur firmware version 1.8.xx 2016-03-02 17:04:11 +01:00
Thomas Timm Andersen 70279d5ece Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:10:00 +01:00
Thomas Timm Andersen 30b9ee5330 Fixed 'No joint names published when not using a prefix'. Closes #34 2016-02-22 17:08:40 +01:00
Thomas Timm Andersen 682c77582b Removed info message about setting prefix when prefix is an empty string 2016-02-19 16:02:12 +01:00
Thomas Timm Andersen adc223cbd8 Added prefix args to ros_control launch files and to the tool0_controller transform frame 2016-02-19 14:58:28 +01:00
hemes f104b50026 Added check to ensure robot pose matches initial trajectory point. 2016-01-13 15:04:08 -06:00
Thomas Timm Andersen a3e174626c Added verification of RT message length for firmware versions 1.6 to 3.2 2015-12-03 11:29:21 +01:00