mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-12 11:00:47 +02:00
5dcef72415
Safe Trajectory Follower implements different approach for controlling the robot. Rather than calculate the interpolation steps in the driver and send the small interpolated steps over the network to the URScript program with 500Hz frequency, the coarser MoveIt trajectory is sent (with few Hz) and the interpolation steps are calculated by the URScript. The algorithm for time progress has also built-in protection against any delays induced by load on the driver, network or URControl - it will never "catch-up" dangerously when such delay are introduced, It will rather pause and wait for the next small interpolation step instructions and re-start the move slower - never skipping any interpolated steps. Those changes make Safe Trajectory Follower much more resilient to network communication problems and removes any superficial requirements for the network setup, kernel latency and no-load-requirement for the driver's PC - making it much more suitable for research, development and quick iteration loops. It works reliably even over WiFi.
239 lines
7.5 KiB
CMake
239 lines
7.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.12)
|
|
project(ur_modern_driver)
|
|
|
|
|
|
add_definitions( -DROS_BUILD )
|
|
|
|
|
|
## Find catkin macros and libraries
|
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
|
## is used, also find other catkin packages
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
hardware_interface
|
|
controller_manager
|
|
actionlib
|
|
control_msgs
|
|
geometry_msgs
|
|
industrial_msgs
|
|
roscpp
|
|
sensor_msgs
|
|
std_srvs
|
|
trajectory_msgs
|
|
ur_msgs
|
|
tf
|
|
)
|
|
|
|
## System dependencies are found with CMake's conventions
|
|
# find_package(Boost REQUIRED COMPONENTS system)
|
|
|
|
|
|
## Uncomment this if the package has a setup.py. This macro ensures
|
|
## modules and global scripts declared therein get installed
|
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
|
# catkin_python_setup()
|
|
|
|
################################################
|
|
## Declare ROS messages, services and actions ##
|
|
################################################
|
|
|
|
## To declare and build messages, services or actions from within this
|
|
## package, follow these steps:
|
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
|
## * In the file package.xml:
|
|
## * add a build_depend tag for "message_generation"
|
|
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
|
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
|
## but can be declared for certainty nonetheless:
|
|
## * add a run_depend tag for "message_runtime"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
|
## catkin_package(CATKIN_DEPENDS ...)
|
|
## * uncomment the add_*_files sections below as needed
|
|
## and list every .msg/.srv/.action file to be processed
|
|
## * uncomment the generate_messages entry below
|
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
|
|
|
## Generate messages in the 'msg' folder
|
|
# add_message_files(
|
|
# FILES
|
|
# Message1.msg
|
|
# Message2.msg
|
|
# )
|
|
|
|
## Generate services in the 'srv' folder
|
|
# add_service_files(
|
|
# FILES
|
|
# Service1.srv
|
|
# Service2.srv
|
|
# )
|
|
|
|
## Generate actions in the 'action' folder
|
|
# add_action_files(
|
|
# FILES
|
|
# Action1.action
|
|
# Action2.action
|
|
# )
|
|
|
|
## Generate added messages and services with any dependencies listed here
|
|
# generate_messages(
|
|
# DEPENDENCIES
|
|
# control_msgs# geometry_msgs# sensor_msgs# trajectory_msgs# ur_msgs
|
|
# )
|
|
|
|
################################################
|
|
## Declare ROS dynamic reconfigure parameters ##
|
|
################################################
|
|
|
|
## To declare and build dynamic reconfigure parameters within this
|
|
## package, follow these steps:
|
|
## * In the file package.xml:
|
|
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "dynamic_reconfigure" to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
|
## and list every .cfg file to be processed
|
|
|
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
|
# generate_dynamic_reconfigure_options(
|
|
# cfg/DynReconf1.cfg
|
|
# cfg/DynReconf2.cfg
|
|
# )
|
|
|
|
###################################
|
|
## catkin specific configuration ##
|
|
###################################
|
|
## The catkin_package macro generates cmake config files for your package
|
|
## Declare things to be passed to dependent projects
|
|
## INCLUDE_DIRS: uncomment this if you package contains header files
|
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
|
catkin_package(
|
|
INCLUDE_DIRS include
|
|
LIBRARIES ur_hardware_interface
|
|
CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
# check c++11 / c++0x
|
|
include(CheckCXXCompilerFlag)
|
|
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
|
|
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
|
|
if(COMPILER_SUPPORTS_CXX11)
|
|
add_compile_options(-std=c++11)
|
|
elseif(COMPILER_SUPPORTS_CXX0X)
|
|
add_compile_options(-std=c++0x)
|
|
else()
|
|
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
|
|
endif()
|
|
|
|
add_compile_options(-Wall)
|
|
add_compile_options(-Wextra)
|
|
add_compile_options(-Wno-unused-parameter)
|
|
add_compile_options(-Wno-ignored-qualifiers)
|
|
add_compile_options(-Wno-return-type)
|
|
|
|
# support indigo's ros_control - This can be removed upon EOL indigo
|
|
if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
|
|
add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
|
|
endif()
|
|
|
|
## Specify additional locations of header files
|
|
## Your package locations should be listed before other locations
|
|
# include_directories(include)
|
|
include_directories(include
|
|
${catkin_INCLUDE_DIRS}
|
|
)
|
|
|
|
## Declare a C++ library
|
|
|
|
# Hardware Interface
|
|
add_library(ur_hardware_interface
|
|
src/ros/hardware_interface.cpp
|
|
src/ros/controller.cpp)
|
|
target_link_libraries(ur_hardware_interface
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
## Add cmake target dependencies of the library
|
|
## as an example, code may need to be generated before libraries
|
|
## either from message generation or dynamic reconfigure
|
|
# add_dependencies(ur_modern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
## Declare a C++ executable
|
|
set(${PROJECT_NAME}_SOURCES
|
|
src/ros/action_server.cpp
|
|
src/ros/mb_publisher.cpp
|
|
src/ros/rt_publisher.cpp
|
|
src/ros/service_stopper.cpp
|
|
src/ros/trajectory_follower.cpp
|
|
src/ros/safe_trajectory_follower.cpp
|
|
src/ros/urscript_handler.cpp
|
|
src/ur/stream.cpp
|
|
src/ur/server.cpp
|
|
src/ur/commander.cpp
|
|
src/ur/robot_mode.cpp
|
|
src/ur/master_board.cpp
|
|
src/ur/rt_state.cpp
|
|
src/ur/messages.cpp
|
|
src/tcp_socket.cpp)
|
|
|
|
add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
|
|
|
|
## Add cmake target dependencies of the executable
|
|
## same as for the library above
|
|
add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
## Specify libraries to link a library or executable target against
|
|
target_link_libraries(ur_driver
|
|
ur_hardware_interface
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
|
|
|
|
## Mark executables and/or libraries for installation
|
|
install(TARGETS ur_driver ur_hardware_interface
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
## Mark cpp header files for installation
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
FILES_MATCHING PATTERN "*.h"
|
|
)
|
|
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
# install(FILES
|
|
# # myfile1
|
|
# # myfile2
|
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
# )
|
|
|
|
#############
|
|
## Testing ##
|
|
#############
|
|
|
|
|
|
set(${PROJECT_NAME}_TEST_SOURCES
|
|
tests/ur/rt_state.cpp
|
|
tests/ur/master_board.cpp
|
|
tests/ur/robot_mode.cpp)
|
|
|
|
if (CATKIN_ENABLE_TESTING)
|
|
catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
|
|
target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
|
|
endif()
|