Obbart/universal_robots_ros_driver
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mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity
238 Commits 12 Branches 1 Tag
f35f40b45d1163344968531aabca1ce539aa35db
Commit Graph

147 Commits

Author SHA1 Message Date
Simon
dc7204fe6e Set reference frame for twist to base_frame_ 2015-11-16 12:52:42 +01:00
Simon
737c8310d5 Catch NaN error if angles are zero 2015-11-16 12:52:15 +01:00
Thomas Timm Andersen
67776ea049 Kill servo_thread in urscript. Fixes #15 2015-11-16 10:28:45 +01:00
Thomas Timm Andersen
aa1096db3b Corrected bug that returned target_q instead of target_qd 2015-11-16 10:22:33 +01:00
Simon
d24019b0d1 Publish tool twist and get base and tool frame names from parameters 2015-11-13 15:00:52 +01:00
Simon
4cdceac791 Publish actual tool pose as pose msg and tf 2015-11-12 17:22:20 +01:00
Thomas Timm Andersen
58352a9502 Added parameter for reverse port. closes #12 2015-10-30 13:05:26 +01:00
Thomas Timm Andersen
09dbe010ae Optimized servoj function call for firmware version >= 3.1 2015-10-30 12:55:51 +01:00
Thomas Timm Andersen
14e9a25dd8 Removed hardcoded velocity limit in vel_based ros_control 2015-10-30 12:48:30 +01:00
Thomas Timm Andersen
2e37fb00df Code cleanup 2015-10-28 11:27:38 +01:00
Thomas Timm Andersen
839d90c4ab Added a check to see that the robot is connected before attempting to write to the socket. Fixes #11 2015-10-28 11:25:59 +01:00
Thomas Timm Andersen
c3f3da922a Fixed #9. Now data streaming is much more regular 2015-10-27 11:43:45 +01:00
Thomas Timm Andersen
d31fe29d65 Changed default servoj_time for better backwards compatibility and smoother pos_based ros_control 2015-10-20 14:38:03 +02:00
Thomas Timm Andersen
a918626dad Added info message about reconnection aquired 2015-10-20 13:41:45 +02:00
Thomas Timm Andersen
1de174d73f code cleanup 2015-10-20 13:24:52 +02:00
Thomas Timm Andersen
f856487e9f Added stability to reverse connection. Resolves #6 2015-10-20 13:21:23 +02:00
Thomas Timm Andersen
6c3cade12f Changed license to Apache 2.0 2015-10-20 12:49:28 +02:00
Thomas Timm Andersen
1c3fe82116 Fixed an issue with using a simulated robot on firmware <= 1.8 2015-10-20 12:16:38 +02:00
Thomas Timm Andersen
8a4cdb51da Made sure to stop any executing trajectory when the driver is halted 2015-10-20 11:01:54 +02:00
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
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
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
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
Thomas Timm Andersen
22e7d799c2 Changed the servoj loop time for better stability 2015-10-01 12:28:16 +02:00
Thomas Timm Andersen
68b751cdcc Fixed order of starting and stopping controllers 2015-09-25 10:19:58 +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
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
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
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