Henning Kayser
231840fabf
Change default activation mode to 'Never'
...
Maintains default behavior of indigo that no controller activation is required.
Enabling required activation can be done by passing 'require_activation' as Always/OnStartup
to the ur_common.launch or by modifying corresponding launch files.
2017-08-17 13:39:05 +02:00
Henning Kayser
f70255926b
Implement activation modes of robot_enable service
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Adds parameter 'require_activation' to configure when the service should be called (Always, Never, OnStartup).
2017-08-16 16:56:21 +02:00
Simon Rasmussen
6e8b2ef5ca
Fixed minor ur3 launch typos issue #98
2017-07-17 23:33:18 +02:00
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
091f7c3bd0
Chnaged tool0_controller base frame. fixes #53
2016-06-14 13:55:43 +02:00
Thomas Timm Andersen
161a7fc146
Removed the prefix tag from the ur_description launch call
2016-02-19 15:53:54 +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
Thomas Timm Andersen
0b9bf8b549
Updated launch files to evaluate a 'prefix' argument and pass it to the driver and urdf file. Fixes #28
2016-02-19 14:16:49 +01:00
Thomas Timm Andersen
56b4c6bae1
Changed robot_state_publisher to fix #32
2016-02-19 11:56:11 +01:00
Thomas Timm Andersen
36e20b8567
Merge pull request #20 from smart-robotics/master
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Expose tool pose from RT connection in ROS
2015-11-16 15:35:44 +01:00
Thomas Timm Andersen
834b103129
Added launchfiles used for imitating old python driver
2015-11-16 10:21:50 +01:00
Simon
d24019b0d1
Publish tool twist and get base and tool frame names from parameters
2015-11-13 15:00:52 +01:00
Thomas Timm Andersen
3f0b03a768
Added launch files for making the driver behave just like the old python driver
2015-10-30 12:47:32 +01:00
Robot Printer
fd2d13ef84
Merge remote-tracking branch 'thomas_timm/master' into ur3_support
2015-10-28 10:06:31 +01:00
Thomas Timm Andersen
806548dd80
Tuned PID values to work with a real robot
2015-10-20 14:23:15 +02:00
Thomas Timm Andersen
589dca8e2a
Improved ros_control performance and stability
2015-10-08 15:37:49 +02:00
Jeppe Walther
58361900b8
UR3 Support
2015-10-06 17:14:59 +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
a2c074eec4
Added parameter to use eiter ros_control or old-style interface
2015-09-24 16:37:14 +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
0310193b15
Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs
2015-09-17 13:40:16 +02:00
Thomas Timm Andersen
69c5fa780a
Implemented communication on port 30001 and 30002 - untested
2015-09-15 17:05:34 +02:00
Thomas Timm Andersen
889e2b70d4
Implemented communication on port 30001 and 30002 - untested
2015-09-15 17:03:59 +02:00
Thomas Timm Andersen
4d5c7101ba
Started structure for non real time data parsing
2015-09-10 17:49:32 +02:00
Thomas Timm Andersen
daa05e5004
added launch files
2015-09-09 15:23:29 +02:00
