-
Notifications
You must be signed in to change notification settings - Fork 209
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* Add a urscript interface node * Add urscript_interface to standard launchfile * Added documentation for urscript_interface * Add a notice about incorrect script code * Add test for urscript interface * Move tests to one single tests This should avoid that different tests run in parallel * Wait for IO controller before checking IOs * Write an initial textmessage when connecting the urscript_interface * Wait for controller_manager services longer * Make sure we have a clean robot state without any program running once we enter our test similar to how we did it on the robot_driver test * Remove unneeded Destructor definition (cherry picked from commit 7ee47bd) Co-authored-by: Felix Exner (fexner) <[email protected]>
- Loading branch information
1 parent
79932af
commit 698914b
Showing
5 changed files
with
461 additions
and
1 deletion.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| // Copyright 2023, FZI Forschungszentrum Informatik, Created on behalf of Universal Robots A/S | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the {copyright_holder} nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| //---------------------------------------------------------------------- | ||
| /*!\file | ||
| * | ||
| * \author Felix Exner [email protected] | ||
| * \date 2023-06-20 | ||
| * | ||
| */ | ||
| //---------------------------------------------------------------------- | ||
|
|
||
| #include <ur_client_library/comm/stream.h> | ||
| #include <ur_client_library/primary/primary_package.h> | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
|
|
||
| class URScriptInterface : public rclcpp::Node | ||
| { | ||
| public: | ||
| URScriptInterface() | ||
| : Node("urscript_interface") | ||
| , m_script_sub(this->create_subscription<std_msgs::msg::String>( | ||
| "~/script_command", 1, [this](const std_msgs::msg::String::SharedPtr msg) { | ||
| auto program_with_newline = msg->data + '\n'; | ||
|
|
||
| RCLCPP_INFO_STREAM(this->get_logger(), program_with_newline); | ||
|
|
||
| size_t len = program_with_newline.size(); | ||
| const auto* data = reinterpret_cast<const uint8_t*>(program_with_newline.c_str()); | ||
| size_t written; | ||
|
|
||
| if (m_secondary_stream->write(data, len, written)) { | ||
| URCL_LOG_INFO("Sent program to robot:\n%s", program_with_newline.c_str()); | ||
| return true; | ||
| } | ||
| URCL_LOG_ERROR("Could not send program to robot"); | ||
| return false; | ||
| })) | ||
| { | ||
| this->declare_parameter("robot_ip", rclcpp::PARAMETER_STRING); | ||
| m_secondary_stream = std::make_unique<urcl::comm::URStream<urcl::primary_interface::PrimaryPackage>>( | ||
| this->get_parameter("robot_ip").as_string(), urcl::primary_interface::UR_SECONDARY_PORT); | ||
| m_secondary_stream->connect(); | ||
|
|
||
| auto program_with_newline = std::string("textmsg(\"urscript_interface connected\")\n"); | ||
| size_t len = program_with_newline.size(); | ||
| const auto* data = reinterpret_cast<const uint8_t*>(program_with_newline.c_str()); | ||
| size_t written; | ||
| m_secondary_stream->write(data, len, written); | ||
| } | ||
|
|
||
| private: | ||
| rclcpp::Subscription<std_msgs::msg::String>::SharedPtr m_script_sub; | ||
| std::unique_ptr<urcl::comm::URStream<urcl::primary_interface::PrimaryPackage>> m_secondary_stream; | ||
| }; | ||
|
|
||
| int main(int argc, char** argv) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
| rclcpp::spin(std::make_unique<URScriptInterface>()); | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } |
Oops, something went wrong.