Classes |
| class | ur_driver.driver.CommanderTCPHandler |
| class | ur_driver.driver.EOF |
| class | ur_driver.driver.TCPServer |
| class | ur_driver.driver.URConnection |
| class | ur_driver.driver.URConnectionRT |
| class | ur_driver.driver.URServiceProvider |
| class | ur_driver.driver.URTrajectoryFollower |
Namespaces |
| namespace | ur_driver::driver |
Functions |
| def | ur_driver::driver.dumpstacks |
| def | ur_driver::driver.get_my_ip |
| def | ur_driver::driver.get_segment_duration |
| def | ur_driver::driver.getConnectedRobot |
| def | ur_driver::driver.handle_set_io |
| def | ur_driver::driver.has_limited_velocities |
| def | ur_driver::driver.has_velocities |
| def | ur_driver::driver.interp_cubic |
| def | ur_driver::driver.joinAll |
| def | ur_driver::driver.load_joint_offsets |
| def | ur_driver::driver.log |
| def | ur_driver::driver.main |
| def | ur_driver::driver.reorder_traj_joints |
| def | ur_driver::driver.sample_traj |
| def | ur_driver::driver.set_io_server |
| def | ur_driver::driver.setConnectedRobot |
| def | ur_driver::driver.traj_is_finite |
| def | ur_driver::driver.within_tolerance |
Variables |
| | ur_driver::driver.connected_robot = None |
| tuple | ur_driver::driver.connected_robot_cond = threading.Condition(connected_robot_lock) |
| tuple | ur_driver::driver.connected_robot_lock = threading.Lock() |
| int | ur_driver::driver.DEFAULT_REVERSE_PORT = 50001 |
| | ur_driver::driver.DigitalIn = Digital |
| | ur_driver::driver.DigitalOut = Digital |
| | ur_driver::driver.Flag = Digital |
| int | ur_driver::driver.FUN_SET_ANALOG_OUT = 3 |
| int | ur_driver::driver.FUN_SET_DIGITAL_OUT = 1 |
| int | ur_driver::driver.FUN_SET_FLAG = 2 |
| int | ur_driver::driver.FUN_SET_TOOL_VOLTAGE = 4 |
| float | ur_driver::driver.IO_SLEEP_TIME = 0.05 |
| list | ur_driver::driver.JOINT_NAMES |
| dictionary | ur_driver::driver.joint_offsets = {} |
| | ur_driver::driver.last_joint_states = None |
| tuple | ur_driver::driver.last_joint_states_lock = threading.Lock() |
| float | ur_driver::driver.MAX_PAYLOAD = 1.0 |
| float | ur_driver::driver.MAX_VELOCITY = 10.0 |
| float | ur_driver::driver.MIN_PAYLOAD = 0.0 |
| int | ur_driver::driver.MSG_GET_IO = 11 |
| int | ur_driver::driver.MSG_JOINT_STATES = 3 |
| int | ur_driver::driver.MSG_MOVEJ = 4 |
| int | ur_driver::driver.MSG_OUT = 1 |
| int | ur_driver::driver.MSG_QUIT = 2 |
| int | ur_driver::driver.MSG_SERVOJ = 7 |
| int | ur_driver::driver.MSG_SET_ANALOG_OUT = 14 |
| int | ur_driver::driver.MSG_SET_DIGITAL_OUT = 10 |
| int | ur_driver::driver.MSG_SET_FLAG = 12 |
| int | ur_driver::driver.MSG_SET_PAYLOAD = 8 |
| int | ur_driver::driver.MSG_SET_TOOL_VOLTAGE = 13 |
| int | ur_driver::driver.MSG_STOPJ = 6 |
| int | ur_driver::driver.MSG_WAYPOINT_FINISHED = 5 |
| int | ur_driver::driver.MSG_WRENCH = 9 |
| float | ur_driver::driver.MULT_analog = 1000000.0 |
| float | ur_driver::driver.MULT_analog_robotstate = 0.1 |
| float | ur_driver::driver.MULT_blend = 1000.0 |
| float | ur_driver::driver.MULT_jointstate = 10000.0 |
| float | ur_driver::driver.MULT_payload = 1000.0 |
| float | ur_driver::driver.MULT_time = 1000000.0 |
| float | ur_driver::driver.MULT_wrench = 10000.0 |
| int | ur_driver::driver.PORT = 30002 |
| | ur_driver::driver.prevent_programming = False |
| tuple | ur_driver::driver.pub_io_states = rospy.Publisher('io_states', IOStates) |
| tuple | ur_driver::driver.pub_joint_states = rospy.Publisher('joint_states', JointState) |
| tuple | ur_driver::driver.pub_wrench = rospy.Publisher('wrench', WrenchStamped) |
| list | ur_driver::driver.Q1 = [2.2,0,-1.57,0,0,0] |
| list | ur_driver::driver.Q2 = [1.5,0,-1.57,0,0,0] |
| list | ur_driver::driver.Q3 = [1.5,-0.2,-1.57,0,0,0] |
| string | ur_driver::driver.RESET_PROGRAM |
| int | ur_driver::driver.RT_PORT = 30003 |