From 70b6b327289e7c1e11bc11c816cf523f2fe118dc Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 5 Sep 2014 11:31:12 +0000
Subject: [PATCH] make payload bounds parameterizable through parameter server
and launch files
---
ur_bringup/launch/ur10_bringup.launch | 4 ++++
.../launch/ur10_bringup_joint_limited.launch | 4 ++++
ur_bringup/launch/ur5_bringup.launch | 4 ++++
.../launch/ur5_bringup_joint_limited.launch | 4 ++++
ur_bringup/launch/ur_common.launch | 7 ++++++-
ur_driver/src/ur_driver/driver.py | 17 +++++++++++++----
6 files changed, 35 insertions(+), 5 deletions(-)
diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch
index 445e0b3..311bf55 100644
--- a/ur_bringup/launch/ur10_bringup.launch
+++ b/ur_bringup/launch/ur10_bringup.launch
@@ -12,6 +12,8 @@
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="20.0"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
@@ -22,6 +24,8 @@
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10_bringup_joint_limited.launch
index 9964be4..b95ce8c 100644
--- a/ur_bringup/launch/ur10_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur10_bringup_joint_limited.launch
@@ -11,10 +11,14 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="20.0"/>
<include file="$(find ur_bringup)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch
index 6e2bfd7..52f7ebd 100644
--- a/ur_bringup/launch/ur5_bringup.launch
+++ b/ur_bringup/launch/ur5_bringup.launch
@@ -12,6 +12,8 @@
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="10.0"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
@@ -22,6 +24,8 @@
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5_bringup_joint_limited.launch
index 4aa7a04..dfa7560 100644
--- a/ur_bringup/launch/ur5_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur5_bringup_joint_limited.launch
@@ -11,10 +11,14 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="10.0"/>
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch
index 73eff94..cd3b292 100644
--- a/ur_bringup/launch/ur_common.launch
+++ b/ur_bringup/launch/ur_common.launch
@@ -13,6 +13,8 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload"/>
+ <arg name="max_payload"/>
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
@@ -22,7 +24,10 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- driver -->
- <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen" />
+ <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
+ <param name="min_payload" type="double" value="$(arg min_payload)"/>
+ <param name="max_payload" type="double" value="$(arg max_payload)"/>
+ </node>
<!-- TF Buffer Server -->
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server">
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 21b35ce..1ad08be 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -61,8 +61,8 @@ MULT_blend = 1000.0
#Bounds for SetPayload service
MIN_PAYLOAD = 0.0
-MAX_PAYLOAD = 5.0 #UR5
-#MAX_PAYLOAD = 10.0 #UR10
+MAX_PAYLOAD = 1.0
+#Using a very conservative value as it should be set throught the parameter server
FUN_SET_DIGITAL_OUT = 1
@@ -617,8 +617,8 @@ class URServiceProvider(object):
self.robot = robot
def setPayload(self, req):
- if req.payload < MIN_PAYLOAD or req.payload > MAX_PAYLOAD:
- print 'ERROR: Payload out of bounds'
+ if req.payload < min_payload or req.payload > max_payload:
+ print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')'
return False
if self.robot:
@@ -893,6 +893,15 @@ def main():
# Reads the maximum velocity
global max_velocity
max_velocity = rospy.get_param("~max_velocity", 2.0)
+
+ # Reads the minimum payload
+ global min_payload
+ min_payload = rospy.get_param("~min_payload", MIN_PAYLOAD)
+ # Reads the maximum payload
+ global max_payload
+ max_payload = rospy.get_param("~max_payload", MAX_PAYLOAD)
+ rospy.loginfo("Bounds for Payload: [%s, %s]" % (min_payload, max_payload))
+
# Sets up the server for the robot to connect to
server = TCPServer(("", reverse_port), CommanderTCPHandler)
--
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