From f67b98cb2e42f1fa9f30c3e7865b6a28b5a48d5e Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 5 Sep 2014 09:43:02 +0000
Subject: [PATCH] moved service definition to ur_msgs, fix typos, add payload
bound parameters
---
ur_driver/CMakeLists.txt | 24 +------------------
ur_driver/prog | 6 ++---
ur_driver/src/ur_driver/driver.py | 17 ++++++++-----
ur_msgs/CMakeLists.txt | 1 +
.../srv/SetPayload.srv | 0
5 files changed, 16 insertions(+), 32 deletions(-)
rename ur_driver/srv/URSetPayload.srv => ur_msgs/srv/SetPayload.srv (100%)
diff --git a/ur_driver/CMakeLists.txt b/ur_driver/CMakeLists.txt
index 5eafcb0..7a7e105 100644
--- a/ur_driver/CMakeLists.txt
+++ b/ur_driver/CMakeLists.txt
@@ -4,32 +4,10 @@ project(ur_driver)
## 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 message_generation)
+find_package(catkin REQUIRED)
catkin_python_setup()
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-add_service_files(
- FILES
- URSetPayload.srv
-)
-
-## Generate added messages and services with any dependencies listed here
- generate_messages(
- DEPENDENCIES
- #control_msgs# sensor_msgs
- )
###################################
## catkin specific configuration ##
diff --git a/ur_driver/prog b/ur_driver/prog
index 2ae340b..18d6671 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -220,7 +220,7 @@ def driverProg():
#send_waypoint_finished(waypoint_id)
set_servo_setpoint(waypoint_id, q, t)
elif mtype == MSG_SET_PAYLOAD:
- params = socket_read_binary_integer(1)
+ params = socket_read_binary_integer(1)
if params[0] == 0:
send_out("Received no parameters for setPayload message")
end
@@ -240,7 +240,7 @@ def driverProg():
send_out("Received no parameters for set_out message")
end
if params_mult[2] > 0:
- set_digital_out(params_mult[1], True)
+ set_digital_out(params_mult[1], True)
elif params_mult[2] == 0:
set_digital_out(params_mult[1], False)
end
@@ -252,7 +252,7 @@ def driverProg():
send_out("Received no parameters for set_out message")
end
if params_mult[2] != 0:
- set_flag(params_mult[1], True)
+ set_flag(params_mult[1], True)
elif params_mult[2] == 0:
set_flag(params_mult[1], False)
end
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 7ac06e4..21b35ce 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -19,9 +19,8 @@ from geometry_msgs.msg import WrenchStamped
from ur_driver.deserialize import RobotState, RobotMode
-from ur_msgs.srv import SetIO
+from ur_msgs.srv import SetPayload, SetIO
from ur_msgs.msg import *
-from ur_driver.srv import *
# renaming classes
DigitalIn = Digital
@@ -60,6 +59,12 @@ MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
+#Bounds for SetPayload service
+MIN_PAYLOAD = 0.0
+MAX_PAYLOAD = 5.0 #UR5
+#MAX_PAYLOAD = 10.0 #UR10
+
+
FUN_SET_DIGITAL_OUT = 1
FUN_SET_FLAG = 2
FUN_SET_ANALOG_OUT = 3
@@ -448,7 +453,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
with self.socket_lock:
self.request.send(buf)
- #Experimental set_payload implementation
+ #Experimental set_payload implementation
def send_payload(self,payload):
buf = struct.pack('!ii', MSG_SET_PAYLOAD, payload * MULT_payload)
with self.socket_lock:
@@ -606,14 +611,14 @@ def within_tolerance(a_vec, b_vec, tol_vec):
class URServiceProvider(object):
def __init__(self, robot):
self.robot = robot
- rospy.Service('ur_driver/setPayload', URSetPayload, self.setPayload)
+ rospy.Service('ur_driver/setPayload', SetPayload, self.setPayload)
def set_robot(self, robot):
self.robot = robot
def setPayload(self, req):
- if req.payload < 0 or req.payload > 20.00:
- print 'ERROR: Payload out of bounce'
+ if req.payload < MIN_PAYLOAD or req.payload > MAX_PAYLOAD:
+ print 'ERROR: Payload out of bounds'
return False
if self.robot:
diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 2c7b008..3232192 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
## Generate services in the 'srv' folder
add_service_files(
FILES
+ SetPayload.srv
SetIO.srv
)
diff --git a/ur_driver/srv/URSetPayload.srv b/ur_msgs/srv/SetPayload.srv
similarity index 100%
rename from ur_driver/srv/URSetPayload.srv
rename to ur_msgs/srv/SetPayload.srv
--
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