Obbart/universal_robots_ros_driver
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Commit Graph

  • 8e08f80dc1 Fixed a few typos in Readme.md Thomas Timm Andersen 2015-09-25 13:01:48 +02:00
  • f24ac6d567 Updated the readme with instructions for using ros_control Thomas Timm Andersen 2015-09-25 12:14:35 +02:00
  • 8c25a4495f Updated launch files Thomas Timm Andersen 2015-09-25 11:28:54 +02:00
  • 980eb8ddd9 Updated ur10_ros_control.launch to load all controllers Thomas Timm Andersen 2015-09-25 10:20:56 +02:00
  • 68b751cdcc Fixed order of starting and stopping controllers Thomas Timm Andersen 2015-09-25 10:19:58 +02:00
  • dc49deaf18 Made sure all controllers are loaded Thomas Timm Andersen 2015-09-25 09:59:10 +02:00
  • 5c785af6c4 Included a position-based controller. Also prettied up printing Thomas Timm Andersen 2015-09-25 09:57:33 +02:00
  • a15fcc695c Specified type of position_trajectory_controller Thomas Timm Andersen 2015-09-24 16:59:31 +02:00
  • ba96d0f098 Split servoj into several functions for reuseability Thomas Timm Andersen 2015-09-24 16:51:18 +02:00
  • 402f5c0170 Removed old description carried over from boilerplate Thomas Timm Andersen 2015-09-24 16:39:13 +02:00
  • a2c074eec4 Added parameter to use eiter ros_control or old-style interface Thomas Timm Andersen 2015-09-24 16:37:14 +02:00
  • 6f3bd5d06f Added catch in case communication fails Thomas Timm Andersen 2015-09-24 16:26:19 +02:00
  • ef7acd55b6 Merge branch 'ros-control' Thomas Timm Andersen 2015-09-24 16:18:19 +02:00
  • 5ccd97a276 Merge branch 'master' into ros-control Thomas Timm Andersen 2015-09-24 16:17:18 +02:00
  • 6e9f646b02 Added reconnect to secondary port Thomas Timm Andersen 2015-09-24 16:10:33 +02:00
  • 039664a1a3 Added reconnect to RT port Thomas Timm Andersen 2015-09-24 15:47:47 +02:00
  • 7c6080e89e Added reconnect feature on RT port Thomas Timm Andersen 2015-09-24 15:36:54 +02:00
  • 8ae3a86a62 Clean up Thomas Timm Andersen 2015-09-24 14:18:24 +02:00
  • 639597eacd Re-included io_states publisher Thomas Timm Andersen 2015-09-24 14:11:07 +02:00
  • 1e8f13f232 Added control switching Thomas Timm Andersen 2015-09-24 13:50:53 +02:00
  • af601b9c32 Implemented ros-control Thomas Timm Andersen 2015-09-24 10:27:29 +02:00
  • d5ea350145 Verified all functionality on all simulators Thomas Timm Andersen 2015-09-22 13:40:03 +02:00
  • fdcf4936de Deleted some commented code Thomas Timm Andersen 2015-09-22 12:40:31 +02:00
  • 46e97f1e57 Deleted some commented code Thomas Timm Andersen 2015-09-22 12:39:24 +02:00
  • 1e7f15e49b Removed wait in accept_goal Thomas Timm Andersen 2015-09-22 12:26:22 +02:00
  • 64a33bf5ed Changed how trajectories are handled to try and speed things up Thomas Timm Andersen 2015-09-22 10:34:09 +02:00
  • c4af674faa Changed how trajectories are handled to try and speed things up Thomas Timm Andersen 2015-09-22 10:29:44 +02:00
  • 208995d8f3 Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step Thomas Timm Andersen 2015-09-18 15:00:36 +02:00
  • 36c8b70ba0 Removed commented code and non-RT socket write Thomas Timm Andersen 2015-09-17 13:59:42 +02:00
  • 0310193b15 Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs Thomas Timm Andersen 2015-09-17 13:40:16 +02:00
  • fc219e4eee Limited the published IO state to 10 for pre 3.0 Thomas Timm Andersen 2015-09-17 13:29:55 +02:00
  • ff8b5522a2 Added sanity check to setSpeed input Thomas Timm Andersen 2015-09-17 10:10:45 +02:00
  • 98a52b0255 Updated Readme Thomas Timm Andersen 2015-09-17 10:07:04 +02:00
  • 22d51874e5 Fixed printing of version string Thomas Timm Andersen 2015-09-17 10:00:26 +02:00
  • 848a1b5a8a Updated list of tested robots Thomas Timm Andersen 2015-09-17 09:57:49 +02:00
  • 69feb3937d Sending commands to the robot is now async of reading Thomas Timm Andersen 2015-09-17 09:50:34 +02:00
  • 8e4cb945d6 Fixed version bound check in RT message parsing Thomas Timm Andersen 2015-09-17 09:19:12 +02:00
  • bcac6b9a31 Updated list of tested devices to include 3.0 Thomas Timm Andersen 2015-09-16 16:25:25 +02:00
  • d866036fa4 Fixed bug for RT message garbage in 3.0 Thomas Timm Andersen 2015-09-16 16:24:29 +02:00
  • a48642f1aa Fixed a bug related to malformed RT messages in 3.0. updated readme Thomas Timm Andersen 2015-09-16 16:16:11 +02:00
  • 834136a997 Fixed a bug related to malformed RT messages in 3.0. updated readme Thomas Timm Andersen 2015-09-16 16:14:51 +02:00
  • 61dac1e977 Added som ROS_DEBUG messages for IO states Thomas Timm Andersen 2015-09-16 15:11:49 +02:00
  • 12b92c14db Bugfixes in URScript commands Thomas Timm Andersen 2015-09-16 15:08:46 +02:00
  • c7556ace42 Updated readme Thomas Timm Andersen 2015-09-16 14:23:20 +02:00
  • 8b030e3f5d Updated readme Thomas Timm Andersen 2015-09-16 14:22:07 +02:00
  • 1b995a928b ROSify output based on compiler flag Thomas Timm Andersen 2015-09-16 14:06:39 +02:00
  • fb95d2188d Tested and bugfixed masterboard data parsing Thomas Timm Andersen 2015-09-16 13:38:21 +02:00
  • 699bc08ac6 Added ROS publisher of IOStates Thomas Timm Andersen 2015-09-16 11:42:55 +02:00
  • 0feb493799 Parsing masterboard data Thomas Timm Andersen 2015-09-16 11:26:06 +02:00
  • 8f3ae49e28 Added URScript interface - untested Thomas Timm Andersen 2015-09-15 17:23:57 +02:00
  • 273236f7c1 Set speed on all joints to 0 before closing RT socket. Set short timeout on non-RT socket Thomas Timm Andersen 2015-09-15 17:12:52 +02:00
  • ad1ec0d9e9 Close RT socket Thomas Timm Andersen 2015-09-15 17:10:01 +02:00
  • c010efd225 added *~ to .gitignore Thomas Timm Andersen 2015-09-15 17:08:02 +02:00
  • 69c5fa780a Implemented communication on port 30001 and 30002 - untested Thomas Timm Andersen 2015-09-15 17:05:34 +02:00
  • 889e2b70d4 Implemented communication on port 30001 and 30002 - untested Thomas Timm Andersen 2015-09-15 17:03:59 +02:00
  • cb18dd1d96 Implemented communication on port 30001 and 30002 - untested Thomas Timm Andersen 2015-09-15 17:03:39 +02:00
  • b5a687a54a Verified that the use of a char buffer + string concatenation is actually faster than a stringstram Thomas Timm Andersen 2015-09-15 11:56:28 +02:00
  • 4d5c7101ba Started structure for non real time data parsing Thomas Timm Andersen 2015-09-10 17:49:32 +02:00
  • e71848f1f7 Prepared msg publisher for joint_offset Thomas Timm Andersen 2015-09-10 15:30:13 +02:00
  • 1b4ef808ee Fixed calls to ROS_ERROR Thomas Timm Andersen 2015-09-10 14:46:18 +02:00
  • 9d56e027d2 Sanity check of actionserver goal input Thomas Timm Andersen 2015-09-10 14:44:58 +02:00
  • 0e6fe245b9 Added boundary check for setting payload Thomas Timm Andersen 2015-09-10 14:17:15 +02:00
  • 8bf9e356f5 Read payload and max velocity from parameter server Thomas Timm Andersen 2015-09-10 14:02:10 +02:00
  • 017810c30f Added minPayload, maxPayload and maxVelocity Thomas Timm Andersen 2015-09-10 13:43:58 +02:00
  • 1c2b3ad259 Chnaged magic constant to io_flag_delay_ Thomas Timm Andersen 2015-09-10 13:33:30 +02:00
  • 8d1c8b2e43 Fixed include Thomas Timm Andersen 2015-09-10 13:30:57 +02:00
  • 10c8e6e012 Fixed include Thomas Timm Andersen 2015-09-10 13:30:43 +02:00
  • a7d3f78f0f Added ROS hooks for services Thomas Timm Andersen 2015-09-10 10:48:43 +02:00
  • b98e57a475 Added IO and payload service Thomas Timm Andersen 2015-09-10 10:37:52 +02:00
  • daa05e5004 added launch files Thomas Timm Andersen 2015-09-09 15:23:29 +02:00
  • 68835c549e added launch files Thomas Timm Andersen 2015-09-09 15:23:06 +02:00
  • 816f1215c8 Add speed interface Thomas Timm Andersen 2015-09-09 13:34:21 +02:00
  • 326c9fbb59 Classify the ros wrapper Thomas Timm Andersen 2015-09-09 12:57:54 +02:00
  • 302dd85a19 Classify the ros wrapper Thomas Timm Andersen 2015-09-09 12:47:10 +02:00
  • 3bf58b024c Added sleep before reporting action goal is succesfull Thomas Timm Andersen 2015-09-09 11:20:16 +02:00
  • cb38c1f028 Bugfix in calculating servoj commands Thomas Timm Andersen 2015-09-09 11:15:14 +02:00
  • 28e033f5b3 Added trajectory and actionlib interface Thomas Timm Andersen 2015-09-08 19:26:43 +02:00
  • bbcac405d4 Changed uint to unsigned int for better cross-platform performance Thomas Timm Andersen 2015-09-08 12:46:13 +02:00
  • 17296c4e6b Removed potential deadlock Thomas Timm Andersen 2015-09-08 12:40:35 +02:00
  • 401a16fbd4 Cleaned up a bit and removed a few global vars Thomas Timm Andersen 2015-09-08 12:28:33 +02:00
  • 1ef0a97d23 Adding files Thomas Timm Andersen 2015-09-08 11:09:09 +02:00
  • 3e7d9042d1 Update LICENSE Thomas Timm Andersen 2015-09-08 12:56:17 +02:00
  • 032b58e263 Initial commit Thomas Timm Andersen 2015-09-08 12:55:29 +02:00