Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add prefix to wrench hw interface #217

Merged
merged 10 commits into from
Jul 20, 2020
Merged

Add prefix to wrench hw interface #217

Changes from 4 commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
a1ba65a
Merge pull request #7 from UniversalRobots/master
carebare47 Feb 11, 2020
4ffa6bb
Merge branch 'master' of https://github.com/UniversalRobots/Universal…
Jul 2, 2020
7810cfd
add prefix to wrench hw interface
Jul 2, 2020
9225d2f
remove default as string defaults to "" anyway
Jul 3, 2020
9ef3e27
formatting
Jul 3, 2020
99825fb
improve syntax
Jul 3, 2020
6e21e0d
parameterise entire wrench name
Jul 3, 2020
546b647
change to wrench_frame_id
Jul 3, 2020
d47cfdc
improve comment
Jul 3, 2020
91d31f5
documentation
Jul 6, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions ur_robot_driver/src/ros/hardware_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } };
joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
std::string script_filename;
std::string wrench_prefix;
std::string output_recipe_filename;
std::string input_recipe_filename;

Expand All @@ -89,6 +90,9 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// to publish correct frame names for frames reported by the robot directly.
robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");

// Optional parameter to add a prefix to the 'wrench' hardware interface (if using more than one arm)
robot_hw_nh.getParam("wrench_prefix", wrench_prefix);
fmauch marked this conversation as resolved.
Show resolved Hide resolved

// Path to the urscript code that will be sent to the robot.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
Expand Down Expand Up @@ -308,8 +312,8 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
speedsc_interface_.registerHandle(
ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));

fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
"wrench", tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(wrench_prefix + "wrench",
tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));

robot_status_interface_.registerHandle(industrial_robot_status_interface::IndustrialRobotStatusHandle(
"industrial_robot_status_handle", robot_status_resource_));
Expand Down