Classes | |
| class | CommanderTCPHandler |
| class | EOF |
| class | TCPServer |
| class | URConnection |
| class | URConnectionRT |
| class | URServiceProvider |
| class | URTrajectoryFollower |
Functions | |
| def | dumpstacks |
| def | get_my_ip |
| def | get_segment_duration |
| def | getConnectedRobot |
| def | handle_set_io |
| def | has_limited_velocities |
| def | has_velocities |
| def | interp_cubic |
| def | joinAll |
| def | load_joint_offsets |
| def | log |
| def | main |
| def | reconfigure_callback |
| def | reorder_traj_joints |
| def | sample_traj |
| def | set_io_server |
| def | setConnectedRobot |
| def | traj_is_finite |
| def | within_tolerance |
Variables | |
| connected_robot = None | |
| tuple | connected_robot_cond = threading.Condition(connected_robot_lock) |
| tuple | connected_robot_lock = threading.Lock() |
| int | DEFAULT_REVERSE_PORT = 50001 |
| DigitalIn = Digital | |
| DigitalOut = Digital | |
| Flag = Digital | |
| float | IO_SLEEP_TIME = 0.05 |
| list | JOINT_NAMES |
| dictionary | joint_offsets = {} |
| last_joint_states = None | |
| tuple | last_joint_states_lock = threading.Lock() |
| float | MAX_PAYLOAD = 1.0 |
| float | MAX_VELOCITY = 10.0 |
| float | MIN_PAYLOAD = 0.0 |
| int | MSG_GET_IO = 11 |
| int | MSG_JOINT_STATES = 3 |
| int | MSG_MOVEJ = 4 |
| int | MSG_OUT = 1 |
| int | MSG_QUIT = 2 |
| int | MSG_SERVOJ = 7 |
| int | MSG_SET_ANALOG_OUT = 14 |
| int | MSG_SET_DIGITAL_OUT = 10 |
| int | MSG_SET_FLAG = 12 |
| int | MSG_SET_PAYLOAD = 8 |
| int | MSG_SET_TOOL_VOLTAGE = 13 |
| int | MSG_STOPJ = 6 |
| int | MSG_WAYPOINT_FINISHED = 5 |
| int | MSG_WRENCH = 9 |
| float | MULT_analog = 1000000.0 |
| float | MULT_analog_robotstate = 0.1 |
| float | MULT_blend = 1000.0 |
| float | MULT_jointstate = 10000.0 |
| float | MULT_payload = 1000.0 |
| float | MULT_time = 1000000.0 |
| float | MULT_wrench = 10000.0 |
| int | PORT = 30002 |
| prevent_programming = False | |
| tuple | pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) |
| tuple | pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) |
| tuple | pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1) |
| list | Q1 = [2.2,0,-1.57,0,0,0] |
| list | Q2 = [1.5,0,-1.57,0,0,0] |
| list | Q3 = [1.5,-0.2,-1.57,0,0,0] |
| string | RESET_PROGRAM |
| int | RT_PORT = 30003 |
| def ur_driver.driver.dumpstacks | ( | ) |
| def ur_driver.driver.get_my_ip | ( | robot_ip, | |
| port | |||
| ) |
| def ur_driver.driver.get_segment_duration | ( | traj, | |
| index | |||
| ) |
| def ur_driver.driver.getConnectedRobot | ( | wait = False, |
|
timeout = -1 |
|||
| ) |
| def ur_driver.driver.handle_set_io | ( | req | ) |
| def ur_driver.driver.has_limited_velocities | ( | traj | ) |
| def ur_driver.driver.has_velocities | ( | traj | ) |
| def ur_driver.driver.interp_cubic | ( | p0, | |
| p1, | |||
| t_abs | |||
| ) |
| def ur_driver.driver.joinAll | ( | threads | ) |
| def ur_driver.driver.load_joint_offsets | ( | joint_names | ) |
| def ur_driver.driver.log | ( | s | ) |
| def ur_driver.driver.main | ( | ) |
| def ur_driver.driver.reconfigure_callback | ( | config, | |
| level | |||
| ) |
| def ur_driver.driver.reorder_traj_joints | ( | traj, | |
| joint_names | |||
| ) |
| def ur_driver.driver.sample_traj | ( | traj, | |
| t | |||
| ) |
| def ur_driver.driver.set_io_server | ( | ) |
| def ur_driver.driver.setConnectedRobot | ( | r | ) |
| def ur_driver.driver.traj_is_finite | ( | traj | ) |
| def ur_driver.driver.within_tolerance | ( | a_vec, | |
| b_vec, | |||
| tol_vec | |||
| ) |
| 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 |
| float ur_driver::driver::IO_SLEEP_TIME = 0.05 |
| dictionary ur_driver::driver::joint_offsets = {} |
| 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_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_FLAG = 12 |
| int ur_driver::driver::MSG_STOPJ = 6 |
| 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 |
| tuple ur_driver::driver::pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) |
| tuple ur_driver::driver::pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) |
| tuple ur_driver::driver::pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1) |
| 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] |
| int ur_driver::driver::RT_PORT = 30003 |