#include <ur_client_library/ur/dashboard_client.h>
#include <ur_client_library/ur/ur_driver.h>
#include <ur_client_library/types.h>
#include <chrono>
#include <cstdlib>
#include <iostream>
#include <memory>
#include <thread>
#include "ur_client_library/control/reverse_interface.h"

Include dependency graph for force_mode_example.cpp:

Functions
void	handleRobotProgramState (bool program_running)

int	main (int argc, char *argv[])

void	sendFreedriveMessageOrDie (const control::FreedriveControlMessage freedrive_action)

Variables
const std::string	CALIBRATION_CHECKSUM = "calib_12788084448423163542"

const std::string	DEFAULT_ROBOT_IP = "192.168.56.101"

std::unique_ptr< DashboardClient >	g_my_dashboard

std::unique_ptr< UrDriver >	g_my_driver

const std::string	INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt"

const std::string	OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt"

const std::string	SCRIPT_FILE = "resources/external_control.urscript"

Function Documentation

◆ handleRobotProgramState()

void handleRobotProgramState ( bool program_running )

Definition at line 46 of file force_mode_example.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 62 of file force_mode_example.cpp.

◆ sendFreedriveMessageOrDie()

void sendFreedriveMessageOrDie ( const control::FreedriveControlMessage freedrive_action )

Definition at line 52 of file force_mode_example.cpp.

Variable Documentation

◆ CALIBRATION_CHECKSUM

const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"

Definition at line 40 of file force_mode_example.cpp.

◆ DEFAULT_ROBOT_IP

const std::string DEFAULT_ROBOT_IP = "192.168.56.101"

Definition at line 36 of file force_mode_example.cpp.

◆ g_my_dashboard

std::unique_ptr<DashboardClient> g_my_dashboard

Definition at line 43 of file force_mode_example.cpp.

◆ g_my_driver

std::unique_ptr<UrDriver> g_my_driver

Definition at line 42 of file force_mode_example.cpp.

◆ INPUT_RECIPE

const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt"

Definition at line 39 of file force_mode_example.cpp.

◆ OUTPUT_RECIPE

const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt"

Definition at line 38 of file force_mode_example.cpp.

◆ SCRIPT_FILE

const std::string SCRIPT_FILE = "resources/external_control.urscript"

Definition at line 37 of file force_mode_example.cpp.

Functions

Variables