Classes | |
| class | CommanderTCPHandler |
| class | EOF |
| class | TCPServer |
| class | URConnection |
| class | URConnectionRT |
| class | URServiceProvider |
| class | URTrajectoryFollower |
Functions | |
| def | dumpstacks () |
| def | get_my_ip (robot_ip, port) |
| def | get_segment_duration (traj, index) |
| def | getConnectedRobot (wait=False, timeout=-1) |
| def | handle_set_io (req) |
| def | has_limited_velocities (traj) |
| def | has_velocities (traj) |
| def | interp_cubic (p0, p1, t_abs) |
| def | joinAll (threads) |
| def | load_joint_offsets (joint_names) |
| def | log (s) |
| def | main () |
| def | reconfigure_callback (config, level) |
| def | reorder_traj_joints (traj, joint_names) |
| def | sample_traj (traj, t) |
| def | set_io_server () |
| def | setConnectedRobot (r) |
| def | traj_is_finite (traj) |
| def | within_tolerance (a_vec, b_vec, tol_vec) |
Variables | |
| connected_robot = None | |
| connected_robot_cond = threading.Condition(connected_robot_lock) | |
| 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 | |
| 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 |
| bool | prevent_programming = False |
| pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) | |
| pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) | |
| 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.getConnectedRobot | ( | wait = False, |
|
timeout = -1 |
|||
| ) |
| def ur_driver.driver.reconfigure_callback | ( | config, | |
| level | |||
| ) |
| def ur_driver.driver.reorder_traj_joints | ( | traj, | |
| joint_names | |||
| ) |
| def ur_driver.driver.within_tolerance | ( | a_vec, | |
| b_vec, | |||
| tol_vec | |||
| ) |
| ur_driver.driver.connected_robot_cond = threading.Condition(connected_robot_lock) |
| list ur_driver.driver.JOINT_NAMES |
| 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) |
| string ur_driver.driver.RESET_PROGRAM |