Obbart/universal_robots_ros_driver
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Code Releases Activity

Commit Graph

  • 5f405b3996 explicitly throw special exception when tool_comm is not available Felix Mauch 2019-06-12 09:06:34 +02:00
  • 520cd4d860 throw exception when tool communication is requested for CB3 Felix Mauch 2019-06-11 17:53:31 +02:00
  • e0201002f6 introduced VersionInformation Felix Mauch 2019-06-11 17:52:58 +02:00
  • e1e71b5cb4 setup timeout for tcp sockets Felix Mauch 2019-06-11 17:55:03 +02:00
  • bb36999868 only join cThread if created Felix Mauch 2019-06-11 17:49:39 +02:00
  • 4cd13b6b83 implemented initialization of rs485 interface. Felix Mauch 2019-06-06 17:36:06 +02:00
  • e4a2e9e743 renamed hardware interface function that handles changes in robot-program state Tristan Schnell 2019-06-11 11:37:58 +02:00
  • ac9b4ef73a added ros-publishing of changes in the state of the program on the robot Tristan Schnell 2019-06-11 11:35:17 +02:00
  • 6337d4a374 added ros controller reset when robot program isn't running Tristan Schnell 2019-06-11 13:59:03 +02:00
  • 3f22a2479a implemented watchdog Tristan Schnell 2019-05-16 16:44:41 +02:00
  • 7e56332b26 removed no longer used and supported plain driver startup Tristan Schnell 2019-06-11 10:37:35 +02:00
  • c88022eefd Introduce UrException as exception base class Felix Mauch 2019-06-11 10:25:50 +02:00
  • 48103aca49 added header_guards for ur_driver Felix Mauch 2019-06-06 17:37:39 +02:00
  • c640badfb4 removed legacy datatypes Felix Mauch 2019-06-06 11:09:19 +02:00
  • e250128d7e fix naming conventions Felix Mauch 2019-06-06 10:45:05 +02:00
  • 9788504f93 make queue match naming conventions Felix Mauch 2019-06-06 10:03:18 +02:00
  • 212ce85dfe Fixed maintainer information in package.xml Felix Mauch 2019-05-22 15:20:19 +02:00
  • b22ac7b2c6 changed new urscript to publish keepalive Tristan Schnell 2019-05-21 16:13:44 +02:00
  • 673459e9de cleaned up control urscript Felix Mauch 2019-06-05 11:41:15 +02:00
  • 7b6175d248 corrected eigen depend tag in package.xml Felix Mauch 2019-06-06 07:46:11 +02:00
  • 00e0fbee3d transform fts measurements to tcp Felix Mauch 2019-06-05 16:21:08 +02:00
  • 45430ec0e7 Added interface for force-torque sensor Felix Mauch 2019-06-05 13:29:45 +02:00
  • 38f1661617 Ramp up after pause Felix Mauch 2019-06-04 10:12:57 +02:00
  • 118f938543 e-series adaption Felix Mauch 2019-06-03 17:28:01 +02:00
  • ac14f4337c set servoj_gain to 2000 Felix Mauch 2019-06-03 17:27:49 +02:00
  • 4f646bb888 Only send robot commands, when robot is in runtime states PLAYING and PAUSING Felix Mauch 2019-05-23 17:44:54 +02:00
  • 765812b4ae Use ros-independent logging commands in pipeline. Felix Mauch 2019-06-03 09:57:43 +02:00
  • b15a416d06 Merge branch 'calibration_new' Felix Mauch 2019-06-03 09:41:59 +02:00
  • db8bf458ee Added README file Felix Mauch 2019-05-29 09:04:00 +02:00
  • 6adda40a3f Cleaned up legacy code and updated documentation. Felix Mauch 2019-05-29 08:52:39 +02:00
  • a603e9bb97 Improved handling of invalid save paths Felix Mauch 2019-05-28 16:51:44 +02:00
  • 0cced4a6c3 Define where the output file should go by a parameter Felix Mauch 2019-05-28 14:18:10 +02:00
  • 118b083ce8 sleep less before checking for calibration Felix Mauch 2019-05-28 12:52:35 +02:00
  • c50556cc8a move real-value examples to other tests Felix Mauch 2019-05-28 11:46:39 +02:00
  • be0cb7f531 fix namespace move Felix Mauch 2019-05-28 11:45:19 +02:00
  • a61788f694 use double precision in output of kinematics info Felix Mauch 2019-05-28 11:26:27 +02:00
  • 157b5a696c Made calibration extraction a working node. Felix Mauch 2019-05-28 10:03:23 +02:00
  • 22f392222e Pipeline: Stop on destruction explicitly Felix Mauch 2019-05-28 09:49:33 +02:00
  • 73624533b9 Fixed a couple of includes Felix Mauch 2019-05-28 09:48:59 +02:00
  • 2df2c4176f corrected default accuracy Felix Mauch 2019-05-27 19:04:24 +02:00
  • afc1161b1d correctly depend on yaml-cpp Felix Mauch 2019-05-27 18:05:40 +02:00
  • 312fe8b1b7 moved calibration to own repository Felix Mauch 2019-05-27 16:30:21 +02:00
  • ceb00d8d6d output simplified chain Felix Mauch 2019-05-06 15:11:38 +02:00
  • f00f76d508 code formatting Felix Mauch 2019-05-06 15:11:02 +02:00
  • 4113f3ab2a Result in 6-jointed chain Felix Mauch 2019-05-06 08:47:10 +02:00
  • bab303e83c Cleaned up tests Felix Mauch 2019-04-01 10:08:29 +02:00
  • 3d93dd4226 manually set corrections to 0 Felix Mauch 2019-04-01 10:07:18 +02:00
  • 8d3b787b27 also check for rotation errors Felix Mauch 2019-03-29 12:57:14 +01:00
  • 579a39a7df check multiple calibrations in one run Felix Mauch 2019-03-28 16:03:47 +01:00
  • 281d4c3955 test 1000 random joint states in fk test Felix Mauch 2019-03-28 16:02:54 +01:00
  • f373eca92b adding changed d parameter of next element to output Felix Mauch 2019-03-28 16:02:18 +01:00
  • c96338c9e7 create xacro properties again Felix Mauch 2019-03-28 10:31:08 +01:00
  • bc15944fa1 Use plain Eigen for kinematics Felix Mauch 2019-03-20 18:33:04 +01:00
  • 8a9192aeba reduce output during testing Felix Mauch 2019-03-20 09:59:00 +01:00
  • eaae523484 implemented a prototype for an integration test for calibration Felix Mauch 2019-03-12 03:04:25 +01:00
  • 792cdc3a08 added unit tests for calibration Felix Mauch 2019-03-11 22:15:49 +01:00
  • d2eb7a8683 added first version of calibration Felix Mauch 2019-01-10 16:28:45 +01:00
  • 649f499499 moved rtde recipe to external text file Tristan Schnell 2019-05-23 15:03:39 +02:00
  • 876d4a06f5 edited script for use in URCaps Tristan Schnell 2019-05-23 11:13:02 +02:00
  • a0ea50a031 implemented script_sender and moved sending of robot program Tristan Schnell 2019-05-22 15:44:43 +02:00
  • 89ee1aae8a Load the script from an external file Felix Mauch 2019-05-20 12:28:35 +02:00
  • ec31db35b2 removed deprecated code Felix Mauch 2019-05-20 11:32:31 +02:00
  • 19cb6fa519 do not use ROS logging inside non-ROS code Felix Mauch 2019-05-20 11:32:10 +02:00
  • ac5e4d85aa Use correct package header for temp primary client Felix Mauch 2019-05-20 11:32:41 +02:00
  • 0e0bffcdc6 Use correct naming scheme for variable robot_ip Felix Mauch 2019-05-20 11:29:14 +02:00
  • 7743c79f6d added separate speed_scaling handle and controller Felix Mauch 2019-05-15 16:43:16 +02:00
  • 35322d208b extrapolate on missing packages Felix Mauch 2019-05-13 15:26:26 +02:00
  • f3cdbac4c4 Set step time from robot Felix Mauch 2019-05-09 16:31:20 +02:00
  • 68835be49b do not timeout on rtde_read Felix Mauch 2019-05-09 16:05:23 +02:00
  • 9ac939b2b0 correctly shutdown comm threads on exit Felix Mauch 2019-05-09 16:04:21 +02:00
  • c79c567412 start main and producer thread with realtime priority Felix Mauch 2019-05-08 17:47:44 +02:00
  • e7c97150d5 notify on missing packages Felix Mauch 2019-05-08 08:46:30 +02:00
  • b5bf8660be add parameters to URScript program Felix Mauch 2019-05-08 07:54:59 +02:00
  • 4106aa9fb8 get frequency from robot Felix Mauch 2019-05-07 14:30:45 +02:00
  • f38ec92389 added ur_controllers package Felix Mauch 2019-04-17 17:04:01 +02:00
  • be5553648d moved driver to subfolder Felix Mauch 2019-04-17 17:03:34 +02:00
  • 7a31b25e38 added first version of speed scaling readings Felix Mauch 2019-04-17 16:59:07 +02:00
  • 5bbeae1c8f Use new gitlab-ci's include functionality Felix Mauch 2019-05-06 15:26:18 +02:00
  • 9bafd44687 added handling of protocol-version 1 and CB3 robots Tristan Schnell 2019-04-17 16:53:39 +02:00
  • 736cd36940 removed unnecessary const classifier Felix Mauch 2019-04-16 09:15:05 +02:00
  • 639da94588 Only write position commands if a position controller is active. Felix Mauch 2019-04-16 09:04:28 +02:00
  • d7f065a22d Upload URScript via primary interface Felix Mauch 2019-04-11 18:08:34 +02:00
  • 4c0aea4c4f added reverse client to publish targets to the robot Tristan Schnell 2019-04-11 18:13:45 +02:00
  • 153585ad9d Added HardwareInterface Felix Mauch 2019-04-11 14:05:51 +02:00
  • 7b88b47aa1 Implemented getDataPackage function Felix Mauch 2019-04-11 11:23:53 +02:00
  • 5db802ffd0 Added executable for plain driver Felix Mauch 2019-04-11 10:21:38 +02:00
  • c322bcb2f2 implemented usage of recipe read by rtde client in the parser and the rtde data package Felix Mauch 2019-04-11 14:39:47 +02:00
  • 420e04530f moved producer setup to pipeline initialization Tristan Schnell 2019-04-11 14:39:40 +02:00
  • 2eea2bf8fc implemented full rtde handshake to initialize constant publishing to data packages by the robot Tristan Schnell 2019-04-11 13:58:34 +02:00
  • 8975957b5f implemented serializing of the output setup and control start packages Tristan Schnell 2019-04-11 13:57:36 +02:00
  • b604af749f implemented serialization of general rtde headers and the request protocol version package Tristan Schnell 2019-04-10 19:26:39 +02:00
  • 742bc11c8f added the rtde client class that initializes the rtde handshake and allows reading of data packages Tristan Schnell 2019-04-10 17:43:44 +02:00
  • 89ee72ac2d reworked pipeline to allow for use without consumer Tristan Schnell 2019-04-10 13:25:48 +02:00
  • 75d73c1c28 Added a check, whether the package was parsed completely. Felix Mauch 2019-04-10 18:01:56 +02:00
  • 3cde95a17b added a function to retrieve single components from a DataPackage Felix Mauch 2019-04-10 18:01:38 +02:00
  • 4a12a8c9ce Implemented RTDEParser Felix Mauch 2019-04-10 17:21:45 +02:00
  • 466fc03e31 Implemented parsing and toString for RTDE data package Felix Mauch 2019-04-10 16:20:42 +02:00
  • 642f040cd8 Do not use "using namespace" in header files Felix Mauch 2019-04-10 17:24:34 +02:00
  • fcc1e62ab5 Parse unknown states to default RobotStates Felix Mauch 2019-04-10 10:01:17 +02:00
  • 4dc4cc0fb0 Changed KinematicsInfo to match reality Felix Mauch 2019-04-10 08:30:50 +02:00