36 Commits

Author	SHA1	Message	Date
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	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
Thomas Timm Andersen	208995d8f3	Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step	2015-09-18 15:00:36 +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	fc219e4eee	Limited the published IO state to 10 for pre 3.0	2015-09-17 13:29:55 +02:00
Thomas Timm Andersen	ff8b5522a2	Added sanity check to setSpeed input	2015-09-17 10:10:45 +02:00
Thomas Timm Andersen	12b92c14db	Bugfixes in URScript commands	2015-09-16 15:08:46 +02:00
Thomas Timm Andersen	1b995a928b	ROSify output based on compiler flag	2015-09-16 14:06:39 +02:00
Thomas Timm Andersen	fb95d2188d	Tested and bugfixed masterboard data parsing	2015-09-16 13:38:21 +02:00
Thomas Timm Andersen	699bc08ac6	Added ROS publisher of IOStates	2015-09-16 11:42:55 +02:00
Thomas Timm Andersen	8f3ae49e28	Added URScript interface - untested	2015-09-15 17:23:57 +02:00
Thomas Timm Andersen	cb18dd1d96	Implemented communication on port 30001 and 30002 - untested	2015-09-15 17:03:39 +02:00
Thomas Timm Andersen	e71848f1f7	Prepared msg publisher for joint_offset	2015-09-10 15:30:13 +02:00
Thomas Timm Andersen	1b4ef808ee	Fixed calls to ROS_ERROR	2015-09-10 14:46:18 +02:00
Thomas Timm Andersen	9d56e027d2	Sanity check of actionserver goal input	2015-09-10 14:44:58 +02:00
Thomas Timm Andersen	0e6fe245b9	Added boundary check for setting payload	2015-09-10 14:17:15 +02:00
Thomas Timm Andersen	8bf9e356f5	Read payload and max velocity from parameter server	2015-09-10 14:02:10 +02:00
Thomas Timm Andersen	017810c30f	Added minPayload, maxPayload and maxVelocity	2015-09-10 13:43:58 +02:00
Thomas Timm Andersen	1c2b3ad259	Chnaged magic constant to io_flag_delay_	2015-09-10 13:33:30 +02:00
Thomas Timm Andersen	8d1c8b2e43	Fixed include	2015-09-10 13:30:57 +02:00
Thomas Timm Andersen	10c8e6e012	Fixed include	2015-09-10 13:30:43 +02:00
Thomas Timm Andersen	a7d3f78f0f	Added ROS hooks for services	2015-09-10 10:48:43 +02:00
Thomas Timm Andersen	b98e57a475	Added IO and payload service	2015-09-10 10:37:52 +02:00
Thomas Timm Andersen	816f1215c8	Add speed interface	2015-09-09 13:34:21 +02:00
Thomas Timm Andersen	326c9fbb59	Classify the ros wrapper	2015-09-09 12:57:54 +02:00
Thomas Timm Andersen	302dd85a19	Classify the ros wrapper	2015-09-09 12:47:10 +02:00
Thomas Timm Andersen	3bf58b024c	Added sleep before reporting action goal is succesfull	2015-09-09 11:20:16 +02:00
Thomas Timm Andersen	cb38c1f028	Bugfix in calculating servoj commands	2015-09-09 11:15:14 +02:00
Thomas Timm Andersen	28e033f5b3	Added trajectory and actionlib interface	2015-09-08 19:26:43 +02:00
Thomas Timm Andersen	401a16fbd4	Cleaned up a bit and removed a few global vars	2015-09-08 12:28:33 +02:00