driver.py File Reference

Go to the source code of this file.

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
	ur_driver.driver

Functions
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)

Variables
	ur_driver.driver.connected_robot = None
	ur_driver.driver.connected_robot_cond = threading.Condition(connected_robot_lock)
	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
list	ur_driver.driver.JOINT_NAMES
dictionary	ur_driver.driver.joint_offsets = {}
	ur_driver.driver.last_joint_states = None
	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
bool	ur_driver.driver.prevent_programming = False
	ur_driver.driver.pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1)
	ur_driver.driver.pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1)
	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]
string	ur_driver.driver.RESET_PROGRAM
int	ur_driver.driver.RT_PORT = 30003